基于随机共振的力觉临场感主从遥控系统  

AN EFFECTIVE FORCE TELEPRESENCE SYSTEM BASED ON THE MODEL OF STOCHASTIC RESONANCE

作　　者：胡文松[1] 宋爱国[1] 黄惟一[1] 

机构地区：[1]东南大学仪器科学与工程系

出　　处：《机器人》1999年第3期210-216,共7页Robot

基　　金：国家863智能机器人传感技术网点实验室资助

摘　　要：在力觉临场感主从遥控系统的应用中，操作员与工作站之间通常相隔很远，操作员所发出的控制信号及工作站的力反馈信号必然会受到未知环境中随机噪声的干扰，有时信号甚至会淹没在噪声中，本文将随机共振模型引入力觉临场感系统，设计了一种可有效抑制并利用噪声的力觉临场感主从遥控系统．In the application of force telepresence,because of the long distance between the operator and station, the control signal given by the operator and the force feedback of station will be disturbed by stochastic noise which is in unknown conditions. Sometimes the signal will be drowned out by the noise. This paper leads the model of stochastic resonance into force telepresence system and designs an effective force telepresence system which can check and make use of the stochostic noise.

关 键 词：力学临场感 随机共振 信噪比 遥控机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]