| 双边遥操作系统操作性能度量频域指标 |
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| 引用本文： | 侯志林,韦庆,韩大鹏,安宏雷.双边遥操作系统操作性能度量频域指标[J].宇航学报,2011,32(4). |
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| 作者姓名： | 侯志林 韦庆 韩大鹏 安宏雷 |
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| 作者单位： | 1. 国防科技大学机电工程与自动化学院,长沙,410073
2. 国防科技大学航天与材料工程学院,长沙,410073 |
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| 摘 要： | 在双边遥操作控制系统的设计中,如何分析和评价遥操作系统的操作性能是一个至关重要的问题.利用频域分析方法,引入了一种新的遥操作系统操作性能度量指标,运用该指标分析了Anderson无源性遥操作系统的操作性能,并针对单边时延条件下的双边控制系统,获得了系统透明性与系统单边时延以及系统跟踪性与系统单边时延之间的关系曲线,解释了Andersor方法为什么只适用于时延不大于1s的系统,并验证了所提度量指标的合理性和有效性.
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| 关 键 词： | 双边遥操作 频域 透明性 跟踪性 Anderson算法 |
A Frequency Measurement Index of Operation Performance for the Bilateral Teleoperation System |
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| HOU Zhi-lin,WEI Qing,HAN Da-peng,AN Hong-lei.A Frequency Measurement Index of Operation Performance for the Bilateral Teleoperation System[J].Journal of Astronautics,2011,32(4). |
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| Authors: | HOU Zhi-lin WEI Qing HAN Da-peng AN Hong-lei |
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| Institution: | HOU Zhi-lin1,WEI Qing1,HAN Da-peng2,AN Hong-lei1(1.Mechatronic and Automation School,National University of Defense Technology,Changsha 410073,China,2.College of Aerospace and Material Engineering,China) |
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| Abstract: | In designing a bilateral teleoperation control system,it is of great important to analyze and evaluate the operation performance of teleoperation.A new performance index for teleoperation system is proposed in this paper based on a frequency domain analysis.The performance of Anderson passive teleoperation system is analyzed by utilizing the new performance index.Hereafter,the relation curve of the system's transparency and the time delay,together with the relation curve of the tracking performance and the ... |
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| Keywords: | Bilateral teleoperation Frequency domain Transparency Track ability Anderson algorithm |
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