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- The key issue to carry out the delicate task for a force telepresence system is to improve the transparency of the system, when the system is stable. 对于力觉临场感机器人系统,在保证系统稳定性的基础上,提高操作透明性是其完成精细任务的关键。
- FTP(Force telepresence) technique can realize the reappearance of force and tectile sense based on multi-sensor signal. FTP(力觉临场感)技术是基于多传感器信息的力和触觉再现技术。
- Virtual Reality technology is a power tool to solve the time delay problem of force telepresence teleoperation system at present. 目前虚拟现实(VirtualReality简称VR)技术应用到力觉临场感遥控作业系统,可以有效地解决系统的时延问题。
- Force telepresence is one of the major forms of telepresence and has significance in fulfilling the remote control task. 力觉临场感技术是临场感技术的主要形式之一,对遥控作业的完成有着重要的意义。
- History and actuality about force telepresence telerobot control system are reviewed,it also describe the existing problems and development direction. 综述了力觉临场感遥控作业机器人控制系统的历史和现状,指出当前存在的问题及发展方向。
- Discussion in this paper was possessed of important significance for the design of control architecture and control algorithm of force telepresence system. 本文的论述对力觉临场感系统控制结构和控制算法的设计具有重要意义
- Abstract: History and actuality about force telepresence telerobot control system are reviewed,it also describe the existing problems and development direction. 文摘:综述了力觉临场感遥控作业机器人控制系统的历史和现状,指出当前存在的问题及发展方向。
- The experimental results indicated that the new design improved the transparency of the teleoperation of construction telerobot system with force telepresence. 在空载和弹簧负载情况下,分别进行了力、位置跟随性能实验,实验结果表明,p-f型力反馈控制方法既能保证从手对主手的位置跟随精度,又能使主手准确连续地跟随从手受力情况,改进了遥操作工程机器人力反馈的性能,提高了力反馈透明度。
- By establishing dynamics model of a master-slave robot force telepresence system in Cartesian frame, the bilateral control structure and control strategy were formulated systematically. 基于该系统在笛卡尔空间的动力学模型,阐述了该系统的控制结构和控制策略。
- The paper is supported by the innovation project of CAS “The research on force telepresence of Human-Machine Interaction” and the directional item of CAS knowledge- innovation project. 感压导电橡胶具有力学性能好、抗干扰能力强,用其制作的传感器具有较高的分辨率,因此是制作触觉传感器的较好材料。
- Force telepresence teleoperation experiments were carried out with various displacement factors and force factors, based on a kind of multicenter displacement-force bilateral PID control. 采用一种多通道位移-力双向PID控制结构,进行了不同位移比例因子和力比例因子下的力觉临场感遥操作实验。
- Time Delay in Force Telepresence System 力觉临场感系统中的时延环节
- Research of Force Telepresence Teleoperation Virtual Reality System 力觉临场感遥控作业虚拟现实系统研究
- RESEARCH ON THE ENVIRONMENT MODEL OF FORCE TELEPRESENCE SYSTEM 力觉临场感系统中环境模型的研究
- Research on Master-Slave Telerobot Force Telepresence Technology 主从式遥控机器人力觉临场感技术的研究
- BILATERAL CONTROL OF TELEOPERATION SYSTEM?WITH FORCE TELEPRESENCE 力觉临场感遥操作系统的双向控制
- GNN Model of Environment Dynamics in Force Telepresence System 力觉临场感系统中环境动力学的遗传神经网络模型
- Dynamics Modeling and Control Strategy of Force Telepresence System 力觉临场感系统的动力学建模及控制策略
- Stability Analysis of Force Telepresence with Little Time Delay 力觉临场感系统的小时延稳定性分析
- Absolute Stability Analysis to Force Telepresence Teleoperation System in Space 空间力觉临场感遥控作业系统的时延无条件稳定性分析