中文摘要：

针对遥操作机器人系统通信时延引起系统不稳定以及性能下降等问题,将系统描述成一个具有时延的状态方程,通过构造适当的李雅普诺夫函数,分析了时延下系统处于约束运动状态下的稳定性,并得到系统的稳定性条件.此外,通过建立系统的等效电路图,研究了一种采用阻抗匹配方法分析系统在有时延和无时延情况下透明性的新方法.仿真实验结果表明该方法的有效性,时延下的系统在保证稳定的基础上实现了良好的透明性.

英文摘要：

In order to eliminate the effect that the communication time delay usually causes instability and bad performance of the teleoperation system, we describe the whole system as a state equation with time delay. Then we adopt appropriate Lyapunov function to analyze the system＇s stability and obtain the stability conditions for constrained motion with time delay. In addition, we establish the equivalent circuit diagrams of the system and study a novel method of impedance matching to analyze the system＇s transparency with/without time delay. The simulation results illustrate the validity of the proposed method and good stability and transparency of the system.