摘要
力觉临场感系统中存在较大的通信时延和力反馈,造成系统的不稳定。本文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,对一维力觉临场感系统分析一种较简单的情况,即从机械手与环境中的一个弹性体作用,该物体不发生位移而仅产生弹性形变。对力觉临场感系统在弹性环境下的时延稳定性进行分析,讨论了模型中各参数的影响,确定了时延界限的正确性。
The communication time delay and the force feedback which exist in force reflection telepresence system cause the system instability.Based on the establishment of time delay dynamics equation of force telepresence system,this paper uses the differential equations to analyze a typical case in one dimension force telepresence system,that is there is only elastic deformation of the elastic object in the environment without displacement.Then the paper discusses the effect of the parameters in the model.The limits of time delay are also defined in paper.The result of experiments shows the exactitude of the limits.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2008年第S1期511-513,共3页
Journal of System Simulation
关键词
临场感
时延
时延界限
telepresence
time delay
time delay limits
