Analysis of Time Delay Stability of Force Reflection Telepresence System in Elastic Environment

摘要

In force reflection telepresence system there exits communication delay and instable feedback. To improve the accuracy of system, it is essential to set up a force reflection telepresence time delay dynamic model in elastic environment. This paper begins with the differential difference equation and analyses a relative simple case in one dimension force reflection telepresence system--suppose that the remote mechanical hand deals with only one elastic object in environment without displacement and that there is only elastic distortion. Furthermore, this paper also analyses the effect caused by model parameters and ascertains the time delay limit which make it possible to maintain the system operation.