欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
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。
英文摘要：
An analytical framework for investigating the transparency of a force-feedback teleoperation system with large time delay is developed based on the generalized wave variables. Two criteria for the optimum transparency are derived, namely the minimum wave reflection coefficient criterion and the strict impedance matching criterion. Results from both the theoretical analysis and the numerical simulation show that the transparency is a frequency-dependent performance. At different input frequencies, the wave-based teleoperation system appears different transparency behavior. With the increasing of the input frequency, the transparency of the system decreases. The transparency of the wave-based teleoperation system with strict impedance matching at the specific input frequency is higher than that with minimum wave reflection, but the sensitivity of latter is lower.
同期刊论文项目
同项目期刊论文
期刊信息
位置：