[1]胡文松,宋爱国,黄惟一.力觉临场感系统的小时延稳定性分析[J].东南大学学报(自然科学版),1999,29(2):6-11.[doi:10.3969/j.issn.1001-0505.1999.02.002]
 Hu Wensong,Song Aiguo,Huang Weiyi.Stability Analysis of Force Telepresence with Little Time Delay[J].Journal of Southeast University (Natural Science Edition),1999,29(2):6-11.[doi:10.3969/j.issn.1001-0505.1999.02.002]
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力觉临场感系统的小时延稳定性分析()
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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2期
页码:
6-11
栏目:
生物医学工程
出版日期:
1999-03-20

文章信息/Info

Title:
Stability Analysis of Force Telepresence with Little Time Delay
作者:
胡文松 宋爱国 黄惟一
东南大学仪器科学与工程系,南京 210096
Author(s):
Hu Wensong Song Aiguo Huang Weiyi
Department of Instrument Science Engineering, Southeast University. Nanjing 210096
关键词:
临场感 时延 时延界限
Keywords:
telepresence time delay the limit of time delay
分类号:
R338.3;TP347
DOI:
10.3969/j.issn.1001-0505.1999.02.002
摘要:
从建立力觉临场感系统的时延动力学方程出发,利用差分微分方程组对力觉临场感系统的时延稳定性进行分析. 采用李亚普诺夫函数进行讨论,根据从机械手的运动状态为自由运动状态及与环境作用状态两种情况分别进行讨论,确定了时延界限,实验结果验证了时延界限的正确性.
Abstract:
This article establishes time delay dynamics equation of force telepresence system firstly, then uses the differential equations to analyse the stability of force telepresence system. This paper makes use of Lyapunov function to discuss two cases which are free moving state and the state of action with environment, according to the moving state of the hand of robot. Also this article defines the limits of time delay. The result of experiment shows the correctness of the limits.

参考文献/References:

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[5] 秦元勋,刘永清.带有时滞的动力系统的运动稳定性.北京:科学出版社,1987.35~100

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备注/Memo

备注/Memo:
基金项目:国家高技术智能机器人资助项目(863—512—9805—09).
第一作者:男,1969年生,博士研究生.
更新日期/Last Update: 1999-03-20