力反馈遥操作机器人系统的内模控制

针对遥操作机器人系统通讯时延破坏系统稳定性和透明性的问题，为力反馈遥操作系统建立了内模控制结构，设计了两端控制器分别实现主从机械手速度和力的跟踪，从而使系统具有良好的透明性,两控制器各有一个控制参数，相关度低，控制灵活,借助内模控制结构的特殊性，以透明性为目标的控制器设计独立于稳定性来进行，降低了控制器设计的复杂度，很好地兼顾了系统在时延下的稳定性和透明性,理论分析和仿真实验证明了该方法的有效性．

Internal model control for force reflecting teleoperation systems

Communication time delay in teleoperation system communication channels always destroys the stability and transparency of the system. In order to solve these problems, a novel internal model control structure was applied to the force reflecting teleoperation system. Both controllers for master and slave were designed to achieve the force and velocity tracking of the manipulators respectively, in order to make the system well transparent. Each controller has only one control parameter, which is hardly correlative with each other and makes the control more flexible. Taking advantage of the special structure of internal model control, controller design aimed at transparency is made apart from the design for stability, which decreases the design complexity. The theoretical analysis and results of simulation validate the effectiveness of the conclusion.