基于虚拟现实的力觉临场感系统及其稳定性分析  

Force-reflecting teleoperation system based on virtual reality and its stability analyse

作　　者：刘威[1] 宋爱国[1] 

机构地区：[1]东南大学仪器科学与工程系,南京210096

出　　处：《仪器仪表学报》2006年第z2期1090-1093,1104,共5页Chinese Journal of Scientific Instrument

基　　金：国家863资助项目(2002AA742048);霍英东青年教师基金项目(60475034)

摘　　要：时延是影响力觉临场感遥操作系统正常作业的突出问题,而虚拟现实技术是解决时延问题的有力手段。本文通过将虚拟预测环境作为时间前向观测器,构造了基于虚拟现实的力反馈遥操作系统的动力学方程,并在此基础上提出了基于虚拟预测环境误差补偿的控制方法。同时,通过构造了系统的李亚普诺夫函数,对系统的稳定性作了进一步分析。实验结果表明这一方法在保证稳定性的基础上很好的缓解了时延带来的影响,提高了系统的可操作性。Time delay has been the main problem in force-refleceting teleoperation, and virtual reality has been the primary way to solve this problem. In the article, we consider the predictive virtual environment as a time forward observer, and construct the dynamics equation of the force-refleceting teleoperation system based on virtual reality. Then we put forward a control method based on error compensate of the predictive virtual environment. We also analyze the system's stability with Lyapunov function. Experimental results are shown that this method can reduce the influence of time delay with guarantee of stability, and promote the operability of systems.

关 键 词：力反馈 虚拟现实 遥操作 稳定性 

分 类 号：TH7-55[机械工程—仪器科学与技术]