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摘要: 遥操作机器人系统的应用和研究是目前机器人学一个重要的研究领域.尤其是网络遥 操作系统的产生,更进一步扩大了应用领域,并对控制系统的设计带来了新的挑战.该文主要从 控制的角度,面向各种性质的时延(如确定的或未知的,时变的或固定的等)对遥操作系统所带 来的稳定性和透明度等问题,针对近年来为解决这些问题所提出的新的控制方法和理论进行系 统的综述和分析,指出现有各种方法的优缺点,并提出了今后控制方法的研究方向和应具有的 特点.Abstract: Due to its great potential value in applications and theory, bilateral tele-robotic systems have been a focus in the literature. Especially, Internet-based teleoperation systems are emerging in recent years, which greatly challenge the control theory to stabilize or control such systems. In this paper, for problems such as stability and transparency, incurred by time-delay of the systems, a review and some necessary analysis on the control theories and methods proposed in recent years are given. Some new ideas about the possible future methods for the control problems of tele-robotic systems are proposed.
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Key words:
- Tele-robotic system /
- stability /
- transparency /
- time-delay /
- review
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