中文摘要：

针对遥操作机器人系统在空间与医疗手术应用时出现的从机械臂柔性问题,提出了带有柔性关节从机械臂的遥操作机器人系统的二端口网络模型,并进行了理想性能分析.在此基础上设计了一种新型的滑模变结构控制方案,在该方案中主机械手采用阻抗控制而柔性关节从机械手采用滑模变结构控制策略.实例仿真结果表明,该控制方案能有效地抑制柔性从机械臂的弹性振动,系统能较好地实现位置跟踪.

英文摘要：

In space and surgical applications of a teleoperation robot system,the slave joint flexibility is present.In response to the problem,a two-port network mode of the teleoperation robot system with elastic-joint slave manipulator is proposed and the ideal performances of the teleoperation under slave robot joint-elasticity are analyzed.After that,a new sliding-mode controller scheme is designed.For the controller,the impedance control is used for the master device and the sliding-mode control for the elastic-joint slave.The simulation results show the control strategy can effectively inhibit the elastic vibration from the elastic-joint slave arm and attain better tracking of placement.