遥控系统主从操作机设计及稳定性分析

在一个由操作员，主从操作机和环境组成的遥控系统中，人和环境分别作为控制回路的一部分必须加以考虑，本文就是根据构成整个系统的各部分的动态特性，对主从操作机进行了设计，并推出了整个系统的稳定性条件，最后通过模拟分析验证了本文设计的有效性。

Master-Slave Manipulator Design and Stability Analysisof a Teleoperation System

In a telemanipulation system which is composed of operator, master-slave manipulatorsand environment, the operator and the envirunment are parts of the cuntrol loop. So their effects mustbe considered. In this paper, the master-slave manipulator impedance according to the dynamic chara-teristic of each part of the whole system is desisned. The stability cunditiun of the system is obtained.At last simulation results prove the effectness uf the method presented .