Force-reflection Bilateral Control System with Large Time Delay
DENG Qi-wen1, WEI Qing1, LI Ze-xiang2
1. College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China; 2. Department of Electrical & Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong
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. ROBOT, 2005, 27(5): 410-413,419..
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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