基于广义波变换的透明遥操作

基于广义波变换的力反馈遥操作系统的透明性,推导了实现系统透明遥操作的最小波反射准则和严格阻抗匹配准则。理论分析和数字仿真均表明:广义波变换遥操作系统的透明性是一个与输入频率相关的特性;同一组参数在不同的输入频率下,系统的透明性不同;当系统输入频率增高时,透明降低。严格阻抗匹配的波变量遥操作系统在相应的输入频率下,透明度高于最小波反射的波变量遥操作系统;最小波反射准则对输入频率的敏感程度则低于严格阻抗匹配准则。     

Operation Modes and Control Schemes for Internet-Based Teleoperation System with Time Delay

Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manioulator system.