力觉临场感遥操作机器人系统的通信通道中存在通信时延, 而且在机器人和环境建模中, 系统参数存在不确定性, 以致可能造成系统不稳定和操作性能降低. 针对通信时延和系统不确定性, 建立系统的状态方程, 利用鲁棒控制理论, 提出用力、位置和速度反馈的控制方法. 分析与实验表明, 用该方法设计的控制器能使系统鲁棒渐近稳定, 而且能使系统完全透明.

There are uncertainties in parameters of a force reflecting teleoperation robot system, and there are communication time delays in the communication channels between master and slave robots. These may conduce to instability and bad performance of the system. In order to eliminate or reduce the effect of time delays and uncertainty on a teleoperation robot system, the state equation of the system is firstly built in this paper. And secondly, a force, position and velocity feedback approach is proposed based on the robust control theory. Analysis and experiment show that the whole closed-system is robust stable and transparent.