[1]田小峰,宋爱国,黄惟一.空间机器人自适应无源控制技术研究[J].东南大学学报(自然科学版),2000,30(5):51-55.[doi:10.3969/j.issn.1001-0505.2000.05.012]
　Tian Xiaofeng,Song Aiguo,Huang Weiyi.Adaptive Passive Control Engineering about Space Robot[J].Journal of Southeast University (Natural Science Edition),2000,30(5):51-55.[doi:10.3969/j.issn.1001-0505.2000.05.012]
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空间机器人自适应无源控制技术研究()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
30
期数:
2000年第5期
页码:
51-55
栏目:
自动化
出版日期:
2000-09-20

文章信息/Info

Title:
Adaptive Passive Control Engineering about Space Robot
作者:
田小峰;  宋爱国;  黄惟一
东南大学仪器科学与工程系,南京 210096
Author(s):
Tian Xiaofeng;  Song Aiguo;  Huang Weiyi
Department of Instrument Science and Engineering, Southeast University, Nanjing 210096
关键词:
力觉临场感;  空间机器人;  无源性;  透明性;  时延
Keywords:
force telepresence;  space robot;  passivity;  transparence;  time-delay
分类号:
TP242.6
DOI:
10.3969/j.issn.1001-0505.2000.05.012
摘要:
建立了力觉临场感空间机器人的等效二端口网络模型,给出了定量分析系统透明性的方法,分析了通信时延对力觉临场感空间机器人无源性和透明性的影响,提出了一种基于有源阻抗匹配的自适应无源控制方法,这种方法能够保证整个系统在时延下的稳定性和良好的透明性.实验结果表明了该方法的有效性.
Abstract:
In this paper, we have established a 2-port net model of space robot with force telepresence,given the methods of analyzing system transparent performance,and analyzed the impacts of communication time-delay to passive and transparent performance of space robot system. An adaptive passive control method based on active impedance matching technology is put forward.The method can assure stability and good transparence of the whole system at time-delay.The availability of the method is proved by experiment results.

参考文献/References:

[1] 宋爱国,黄惟一.临场感遥控作业系统的发展.高技术通信,1996,6(6):98～101
[2] Anderson R J,Spong M W.Asymptotic stability force reflecting teleoperators with time delay.Int J of Robotics Research,1992,11(2):135～149
[3] Nimeryer G,Slotine J J.Stable adaptive teleoperation.IEEE J of Oceanic Engineering,1991,16(1):152～163
[4] 陈惠开,吴新余,吴叔美编著.现代网络分析.北京:人民邮电出版社,1992.480～485

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备注/Memo

备注/Memo:
基金项目:国家高技术资助项目(86-512-9805-09),国家自然科学基金资助项目(69705006),国家教育部博士点基金资助项目(98028619).
第一作者:男,1973年生,博士研究生.
更新日期/Last Update: 2000-09-20