摘要
从建立力觉临场感系统的时延动力学方程出发，利用差分微分方程组对力觉临场感系统的时延稳定性进行分析．采用李亚普诺夫函数进行讨论，根据从机械手的运动状态为自由运动状态及与环境作用状态两种情况分别进行讨论，确定了时延界限，实验结果验证了时延界限的正确性．
This article establishes time delay dynamics equation of force telepresence system firstly, then uses the differential equations to analyse the stability of force telepresence system. This paper makes use of Lyapunov function to discuss two cases which are free moving state and the state of action with environment, according to the moving state of the hand of robot. Also this article defines the limits of time delay. The result of experiment shows the correctness of the limits.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
1999年第2期6-11,共6页
Journal of Southeast University：Natural Science Edition
基金
国家高技术智能机器人资助
