摘要
通讯时延影响了力觉临场感系统的运行性能和稳定性。本文利用无源Ｎ端口网络的理论，分析了时延对力觉临场感系统的影响，提出了一套评价系统运行性能的计算方法，并以此为基础，给出了一种新的无源控制算法，既保证了系统的稳定性，又使得系统的运行性能最优。
Time delay of communication reduces the stability and performance of force teleprasencesystem. The effect of time delay on the system is analyzed by employing passive N-port network theo-ry. In this paper,a kind of method to evaluate the performance of force telepresence system is present-ed. Based on optunal performanca under the time delay,a new passive control Algorithm is proposed ,which can maintain both the stability and optimal performence of the telepresence system.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
1995年第4期120-128,共9页
Journal of Southeast University：Natural Science Edition
基金
国家863高科技智能机器人传感器实验室资助项目
关键词
时延
力觉临场感
遥控机器人
无源控制算法
e: communication
time delay
passive circuits
porformance
force telepresence
master-slave manipulators
