Description: Teleoperation process time delay system is stable and the root cause of the deterioration of system performance, the impact telerobot system. Changed the MDOF when this paper, there is a big delay to the communication link, proposed an improved non- linear quasi-two-way adaptive force set mixed control algorithms to: primary end adaptive controller by tracking the force from the end of the environment to improve the transparency of the system adaptive drawn in tracking the velocity and displacement of the main hand from the end, by local force feedback supple control capabilities to ensure the system is in a stable state in any delay of the algorithm changes, small-scale operation robot system in the presence of delay and uncertainty of the model parameters and have a better end unknown environment Pu rods. proof of the stability of the article and the comparative simulation study to verify the effectiveness of the algorithm T
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大时延遥操作机械臂系统的双向自适应控制.pdf
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