# [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] 点击复制 力觉临场感系统的小时延稳定性分析() 分享到： var jiathis_config = { data_track_clickback: true };

29

1999年第2期

6-11

1999-03-20

## 文章信息/Info

Title:
Stability Analysis of Force Telepresence with Little Time Delay

Author(s):
Department of Instrument Science Engineering, Southeast University. Nanjing 210096

Keywords:

R338.3;TP347
DOI:
10.3969/j.issn.1001-0505.1999.02.002

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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[2] Anderson,Spong R,Bilateral M.Control teleoperation with time delay.IEEE Trans on Auto Control,1989,34 (3):494～503
[3] Niemeyer,Slotine G,Stable J.Adaptive telepenation.IEEE J Oceanic Engineer,1991,16(1) :152～163
[4] 宋爱国,黄惟一.空间遥控作业系统的自适应无源控制.宇航学报,1997,7(3):26～32
[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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