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针对位置一位置型的双向力反应控制系统,推导了相应的阻抗矩阵模型,并基于二端口网络无源性理论,对系统的稳定性及控制性能进行了探讨,为位置一位置型双向力反应遥操作系统的设计提供了理论依据。
According to the position-position bidirectional force reaction control system, the corresponding impedance matrix model is deduced. Based on the two-port network passive theory, the stability and control performance of the system are discussed. For the position-type two-way force reaction Teleoperation system design provides a theoretical basis.