Abstract：This paper makes theoretic analysis and experimental research on the realization of ideal performance of a master-slave remote system. For a position/force controlled telerobot, ideal performance means to realize position track and force track of master-slave manipulators. By analyzing, this paper first presents a control schemes with which the ideal performance of the system can be realized. Because of the force differentiation signal, the schemes are simple. Then based on passivity, the stability of the system is analyzed. The experimental results show that under the conditions in which the slave manipulator interacts or does not interact with the environment, the master-slave remote system can almost realize ideal performance.
1 Hannaford B,Paolo F.A Detailed Model of Bilateral Teleoperation.IEEE Int Conf on Rob and Auto,1988:117～121 2 Hannaf ord B.A Design Framework for Teleoperators with Kines thetic Feedb ack.IEEE Trans,on Rob and Auto,1989,5(4):426～434 3 Strass berg Y,Golder berg Aetc.A New Control Scheme for Bilateral Teleoperating Systems:Performance Evaluation and Comparison.Proc of the IEEE/RS J Int Conf on Intelligent,Rob and Sys,1992:865～872 4 Yokokohji Y,Yoshikawa T.Control of Master-Slave Manipulators for Object Teleperception.The 5th Int Sym on Robot Research,1990:217～224 5 Yokokoh ji Y,Yoshikawa T.Bilateral Control of Master-Slave Manipulators for Ideal Kinesthetic Coupling—Formulation and Experimen t.IEEE Trans,on Rob and Auto,1994,10(5):605～619 6 Lawrence D A.Designing Teleoprator Architectures for Transparency.IEEE Int Conf,on Rob and Auto,1992:1406～1411 7 张庆,曹效英,黄惟一.一种新的力觉临场感系统模型.机器人,1994,16(6):362～366 8 Colgate E,Hogan N.Robust Control of Dynamically Interating System.Int J Control,1988,48(1):65～88 9 陈惠开[美],吴新余,等编著.现代网络分析.人民邮电出版社,1992,16:512～514
