高技术通讯2011，Vol.21Issue(7)：734-738,5.DOI:10.3772/j.issn.1002-0470.2011.07.011
基于磁流变液被动力觉驱动器的简化逆动力学模型
A simplified inverse dynamics model for a passive force feedback actuator based on magneto-rheological fluid
摘要
Abstract
A simplified inverse dynamics model for passive force actuators was proposed to solve the problem that a passive magneto-rheological fluid actuator is difficult to control due to its highly nonlinear characteristic. Based on the analyses of the actuator's principle, structure, dynamics model, and constrains of output force, the speed feedback algorithm for the rotator was studied and the output force feedback algorithm for the actuator was deduced. Finally, an experimental system of force interaction was set up by using the prototype developed for the actuator, and the viscous body stress relaxation force feedback experiment, the rigid body collision force feedback experiment as well as the step response experiment were done based on the simplified inverse dynamics model. The experimental results show that the control algorithm based on the simplified inverse dynamics model is valid and can effectively control the output force of magneto-rheological fluid actuators, and will promote the applications of magneto-rheological fluid devices in the field of haptic interaction.关键词
驱动器/力觉交互/磁流变液/简化逆动力学模型Key words
actuator/haptic interaction/magneto-rheological fluid/simplified inverse dynamics model引用本文复制引用
戴金桥,王爱民,宋爱国,吴涓,张小瑞..基于磁流变液被动力觉驱动器的简化逆动力学模型[J].高技术通讯,2011,21(7):734-738,5.基金项目
863计划(2008AA040202,2009AA01Z314,2009AA01Z311),国家自然科学基金(60905045)和江苏省自然科学基金(BK2009103)资助项目. （2008AA040202,2009AA01Z314,2009AA01Z311）
