基于二端口网络理论的双向力反应遥操作系统模型的建立

Establishment of the Model for Bilateral Force Reflecting Teleoperating System Based on 2-Port Network Theory

给出一个完整的双向遥操作系统的模型。在建立了该系统的动力学模型的基础上，讨论了以阻抗矩阵表示的二端口网络结构，稚导了相应的网络特性参数。为双向遥操作系统的控制技术提供了理论基础。

In this paper,a detailed model for bilateralteleoperating system is proposed. On the basis of establishing the dynamic model of the system, a 2-port network structure demonstrated with impedance matrix is discussed and the related network performance parame ters are deduced. This paper provides a basic study on the control technique of bilateral teleoperating system.