The Analysis of Frequency Measurement Index of Operation Performance for the Bilateral Teleoperation System

摘要

The study on performance index for bilateral teleoperation is very important to the control system design. This paper focused on frequency domain and a frequency performance index for teleoperation system was introduced. After the analysis of the performance for Anderson teleoperation system using the performance index, the curve of the relationship between the transparancy of the system and the unilateral time delay is acquired, also including the curve of the relationship between the tracking of the system and the unilateral time delay. Then, the reason why it's only applied to the system that have no more than 1 second time delay is obtained from frequency domain aspect, thus the rationality and validity of the performance index is testified.