原创力文档- 1、原创力文档（book118）网站文档一经付费（服务费），不意味着购买了该文档的版权，仅供个人/单位学习、研究之用，不得用于商业用途，未经授权，严禁复制、发行、汇编、翻译或者网络传播等，侵权必究。。
- 2、本站所有内容均由合作方或网友上传，本站不对文档的完整性、权威性及其观点立场正确性做任何保证或承诺！文档内容仅供研究参考，付费前请自行鉴别。如您付费，意味着您自己接受本站规则且自行承担风险，本站不退款、不进行额外附加服务；查看《如何避免下载的几个坑》。如果您已付费下载过本站文档，您可以点击 这里二次下载。
- 3、如文档侵犯商业秘密、侵犯著作权、侵犯人身权等，请点击“版权申诉”（推荐），也可以打举报电话：400-050-0827(电话支持时间：9:00-18:30)。
查看更多
28 7 Vol. 28 No. 7
2011 7 Control Theory Applications Jul. 2011
:2011
, , ,
(1. , 150001; 2. , 150001)
: , .
, .
. ,
, . .
: ; ; ;
: TP273 : A
Passivity design of a haptic interface for the remote servo manipulator
LIU Yan-wen , LI Jia , HE Zhen , WANG Guang-xiong
(1. College of Automation, Harbin Engineering University, Harbin Heilongjiang 150001, China;
2. Department of Control Science and Engineering, Harbin Institute of Technology, Harbin Heilongjiang 150001, China)
Abstract: The haptic interface provides the virtual environment for the remote servo manipulator. Passivity is the main
requirement of the interface design. However, the conditions of passivity given in existing work are too conservative. Based
on the frequency response of a sampled-data control system, a non-conservative passivity condition for the interface system
is derived. It is pointed out that passivity is just one of the properties of the interface. For a proper design, the basic
requirements of a servo design must also be considered, such as the bandwidth of the system, the damping of the system.
The passivity design procedure for the interface is illustrated by an example.
Key words: haptic interface; sampled-data system; passivity; virtual environment
1 (Introduction) . ,
, , ,
. , .
(), .
, ,
, , . ,
. , ,
. ,
,
, .
, .
, (), ,
. , , .
, . .
文档评论（0）