力觉临场感遥控作业系统控制结构的透明性研究

Research of Force Telepresence Teleoperation System Control Structure's Transparency

临场感技术是虚拟现实中的一项重要内容．本文针对力觉临场感遥控作业系统中几种典型控制结构的透明性，进行了理论分析和实验研究，结果表明力反馈－位置型控制结构具有最佳的透明性．

Telepresence is a very important content in virtual reality. The typical control structures of force telepresence teleoperation system are analyzed theoretically and researched experimentally, the result shows that the control structure of force feedback position can realize optimum transparency.