孙立宁, 荣伟彬, 刘品宽, 蔡鹤皋. 主从式遥微操作机器人力反馈控制系统的研究[J]. 机器人, 2002, 24(4): 346-351..
SUN Li-ning, RONG Wei-bin, LIU Pin-kuan, CAI He-gao. RESEARCH ON BILATERAL FORCE FEEDBACK CONTROL SYSTEM OF TELE-MICROMANIPULATING ROBOT. ROBOT, 2002, 24(4): 346-351..
Abstract：A force feedback control system of tele-micromanipulating robot is developed in this paper. The scaled two-port network model is built and the stability of control system is analyzed. Experiments show that the operator can gain durative and stable contacting force perceiving when the micro-manipulator contacts a object. The research lays the foundation for further micromanipulating experiments.
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