摘要
遥操作机器人系统的通信通道中存在通信时延,而且机器人模型存在不确定性,以致可能造成系统不稳定和操作性能降低.针对通信时延和系统不确定性,利用鲁棒控制理论,提出用力、位置和速度反馈的控制方法,使得系统稳定,且具有良好的透明性.仿真结果表明了该方法的有效性.
There are uncertainties in model of a teleoperation robot system and communication time delays in the communication channels between the master and slave robot. These may conduce to instability and had performance of the system. In order to eliminate or reduce the effect of time delays and uncertainty on a teleoperation robot system, force, position and velocity feedback approacb is proposed based on robust control theory. Analysis and simulation show that the method is effective.
出处
《数学的实践与认识》
CSCD
北大核心
2006年第2期164-172,共9页
Mathematics in Practice and Theory
基金
国家自然科学基金(40505005)
江苏省气象灾害重点实验室(KLME0502)资助项目
关键词
遥操作
时延
不确定
渐近稳定
鲁棒控制
透明性
teleoperation
time delay
uncertainty
asymptotical stability
robust control
transparency
