摘要
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.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
1999年第2期143-144,共2页
China Mechanical Engineering
关键词
二端口网络
阻抗控制
遥操作
双向力反应
2-port network impedance control teleoperation bilateral force reflecting
