空间力觉临场感遥控作业系统的时延无条件稳定性分析  

Absolute Stability Analysis to Force Telepresence Teleoperation System in Space

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,南京210018

出　　处：《控制与决策》2000年第1期51-54,58,共5页Control and Decision

基　　金：国家高技术项目!(863 _ 512_ 9805 _ 09);教育部博士点基金项目!(98028619)

摘　　要：空间遥控作业系统中存在很长的通信时延，造成遥控作业系统的不稳定和操作性能的降低。为此，从建立力觉临场感遥控作业系统的时延动力学方程出发，利用差分微分方程对系统的无条件稳定性进行分析。实验结果表明该分析方法是行之有效的。The teleoperation system is a strong means to realize the working in dangerous space. Because of the long distance between remote work station and control site, there exists long communication time delay. This causes the instability and bad performance in teleoperation system. Based on the establishment of time delay dynamics equation to force telepresence teleoperation system, the absolute stability of system is analyzed by using the differential equation. The experiment result shows exactitude of the conclusion.

关 键 词：力觉临场感 时延 遥控作业系统 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] TP89[自动化与计算机技术—控制科学与工程]