A NEW SIGNAL TRANSMISSION METHOD FOR FORCE REFLECTING TELEROBOT SYSTEM
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摘要: 提出了一种新的基于有源阻抗匹配的信号传输方法，这种方法能够保证整个力反射遥控机器人系统在时延下的无源稳定性和良好的透明性．分析可知原有的两种无源信号传输方法只是这种新方法的两种特例．实验结果表明了该方法的有效性．Abstract: In this paper, a new method of signal transmission based on non-passive impedance matching is proposed, which can maintain both the stability and good transparency of the force reflecting telerobot system in the presence of time delay. The analysis shows that the existent passive algorithms of signal transmission for telerobot system are special cases of this new method. At last, the experiment results demonstrate the effectiveness of this new method.
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Keywords:
- Telerobot /
- telepresence /
- passivity /
- transparency /
- signal transmission
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