摘要
具有良好的可操作性 ,又能确保系统稳定性是解决力觉临场感遥操作机器人系统时延问题的根本。本文阐述了采用Popov超稳定性理论分析并研究虚拟现实力觉临场感遥操作机器人系统的稳定性问题是行之有效的 ,并给出了其分析方法 ,指出Popov超稳定性与无源稳定性理论是条件一致的。实验显示本文所给出的方法的有效性。
To have its nicer maneuverability and insure its stability, is fundamental for solving the problem on time-delay in force telepresence telerobot system. This paper expatiates that it is effective to make use of Popov's hyperstability theory to analyse and research the stability problems in force telepresence telerobot system based on virtual reality technology and presents an analysed method. It indicates that Popov's hyperstability and passivity theory on stability are identical under certain condition. The validity of method presented is shown by experiment. The discusses in the paper are important for the design of that system.
出处
《传感技术学报》
CAS
CSCD
2003年第4期393-396,共4页
Chinese Journal of Sensors and Actuators
基金
国家 8 6 3高技术项目 (No .2 0 0 2AA74 2 0 4 8)
南通工学院自然科学基金项目 (No .2 0 0 2 0 4 )
江苏省高校科学研究指导性计划 2 0 0 3年资助课题 (0 3KJD5 10 16 3)
