Title :
Analysis of Small Time Delay Stability in Force Telepresence System
Author :
Hu, Wensong ; Wang, Yin ; Zhu, Min ; Fang, Zhuo
Author_Institution :
Software Coll., Nanchang Univ., Nanchang
Abstract :
This article established time delay dynamics equation of force telepresence system firstly, and then uses the differential equations to analyze the stability of force telepresence system. This paper makes use of Lyapunov function to discuss two cases which are free moving state and the state of action with environment, according to the moving state of the hand of robot. Also this article defines the limits of time delay. The result of experiment shows the correctness of the limits.
Keywords :
Lyapunov methods; delays; differential equations; manipulators; telecontrol; Lyapunov function; differential equations; force telepresence system stability; robot hand; small time delay stability; time delay dynamics equation; Communication system control; Control systems; Delay effects; Difference equations; Differential equations; Educational technology; Force control; Lyapunov method; Power system reliability; Stability analysis; Force Telepresence; Small Time Delay; Stability;
Conference_Titel :
Education Technology and Training, 2008. and 2008 International Workshop on Geoscience and Remote Sensing. ETT and GRS 2008. International Workshop on
Conference_Location :
Shanghai
Print_ISBN :
978-0-7695-3563-0
DOI :
10.1109/ETTandGRS.2008.317
