邓启文, 韦庆, 李泽湘. 大时延力反馈双边控制系统[J]. 机器人, 2005, 27(5): 410-413,419.
引用本文: 邓启文, 韦庆, 李泽湘. 大时延力反馈双边控制系统[J]. 机器人, 2005, 27(5): 410-413,419.
DENG Qi-wen, WEI Qing, LI Ze-xiang. Force-reflection Bilateral Control System with Large Time Delay[J]. ROBOT, 2005, 27(5): 410-413,419.
Citation: DENG Qi-wen, WEI Qing, LI Ze-xiang. Force-reflection Bilateral Control System with Large Time Delay[J]. ROBOT, 2005, 27(5): 410-413,419.

大时延力反馈双边控制系统

Force-reflection Bilateral Control System with Large Time Delay

  • 摘要: 阐述了力反馈双边控制遥操作的基本思想,讨论了其稳定性和透明性,介绍了一种既能保证稳定性、又能提高透明性的力反馈双边控制方法.最后给出了力反馈遥操作实验系统的实现,在6s时延条件下成功完成了曲面跟踪任务.

     

    Abstract: This paper introduces the basic principle of teleoperation system based on force-reflection bilateral control.Then,based on the stability and transparency,a way which can guarantee the stability and improve the transparency is introduced.At last,an experimental teleoperation system is implemented,and a curved surface tracing experiment is completed successfully with the time-delay of 6 seconds.

     

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