[1]曹效英.力觉临场感系统中的时延环节[J].东南大学学报(自然科学版),1999,29(1):30-34.[doi:10.3969/j.issn.1001-0505.1999.01.006]
 Cao Xiaoying.Time Delay in Force Telepresence System[J].Journal of Southeast University (Natural Science Edition),1999,29(1):30-34.[doi:10.3969/j.issn.1001-0505.1999.01.006]
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力觉临场感系统中的时延环节()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
29
期数:
1999年第1期
页码:
30-34
栏目:
自动化
出版日期:
1999-01-20

文章信息/Info

Title:
Time Delay in Force Telepresence System
作者:
曹效英
东南大学仪器科学与工程系,南京 210096
Author(s):
Cao Xiaoying
Department of Instrument Science and Engineering, Southeast University, Nanjing 210096
关键词:
时延 力学临场感系统 无源性
Keywords:
time delay force telepresence system passivity
分类号:
TP242.6
DOI:
10.3969/j.issn.1001-0505.1999.01.006
摘要:
利用力觉临场感遥控系统中传输环节的混合参数矩阵,证明了时延对整个系统的影响,描述了2种改善或消除时延影响的方法. 针对实际系统进行了分析,得出了增大主操作器阻尼会增加稳定性,而增大从操作器阻尼会增加不稳定性的结论.
Abstract:
This paper firstly describes the effect of time delay by analyzing the hybrid matrix. Two methods to eliminate or decrease the effect of time delay are introduced. By research on the practical system it is concluded that increasing the damp of the master manipulator can improve the stability and increasing that of the slave one can make the system unstable.

参考文献/References:

[1] Anderson R J,Spong M W.Bilateral control of teleoperation with time delay.In:IEEE Conf on Decision & Control,Austin,Texas,1988.167~173
[2] Niemeyer G,Slotine J E.Stable adaptive teleoperation.IEEE Journal of Oceanic Engineering,1991,16(1):152~162
[3] 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(6):362~366
[4] [美]陈惠开,吴新余.现代网络分析.北京:人民邮电出版社,1992.469~481
[5] 陈大蒬.网络分析引论.北京:人民邮电出版社,1987.374~375

备注/Memo

备注/Memo:
基金项目:国家863智能传感器实验室课题(863-512-20-019802).
第一作者:女,1967年生,博士,副教授.
李俊鹏,徐凤安. 海洋机器人大时延控制系统补偿方法的研究. 机器人学术会议论文集, 沈阳,1992. 253~267.
更新日期/Last Update: 1999-01-20