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为了将波变量方法用于多自由度遥操作系统,提出了一种更具一般性的多自由度遥操作系统的波变换公式,并扩展了公式参数的选择原则.首先分析了波变量法的原理,并用波变换矩阵替换波阻抗常数b得到多自由度系统的波变换公式.然后从能量的角度分析了波阻抗矩阵的选择原则,根据此选择原则扩展了波阻抗矩阵的选择方法和矩阵之间的约束关系.接着基于耗散理论,分析了扩展的波阻抗矩阵的无源性.最后以3自由度主从遥操作系统为例,分别进行了仿真实验和机器人遥操作实验,实验结果表明所提出的波变换公式能够保证多自由度遥操作系统在时延条件下的稳定性.
In order to apply the wave-variable method to the multi-degree-of-freedom teleoperation system, a more generalized wave transformation formula of multi-degree-of-freedom teleoperation system is proposed and the principle of choice of formula parameters is extended.Firstly, Principle of the wave impedance matrix and replacing the wave impedance constant b with the wave transformation matrix to obtain the wave transformation formula of the multi-degree-of-freedom system. Then the selection principle of the wave impedance matrix is analyzed from the energy point of view and the selection method and matrix of wave impedance matrix Then, based on the dissipative theory, the passiveness of the extended impedance matrix is analyzed.Finally, a 3 DOF master / slave teleoperation system is taken as an example to simulate the experiment and robotic teleoperation respectively. The experimental results show that The proposed wave transformation formula can guarantee the stability of multi-degree-of-freedom teleoperation system under the delay condition.