专利名称：Control system for telemanipulation发明人：Gerhard Johan Wierda申请号：US09/210724申请日：19981215公开号：US06028409A公开日：20000222
摘要：Remote control system comprising two circuits each containing an actuatoracting on a mass and controlled by an actuator signal, a manual control means coupledto said actuator, a force transducer measuring the force applied to said manual controlmeans, a velocity transducer measuring the velocity of the manual control means, acontrol circuit representing a model of the dynamics of a moving mass the input signal ofwhich is divided by a simulated mass to obtain a commanded acceleration signal, which istime integrated to obtain a commanded velocity signal, an actuator controller the inputsignal of which is the balance between the commanded velocity signal and the velocity ofthe manual control means. The balance of the two measured forces is applied as inputsignal to both circuits.
申请人：FOKKER CONTROL SYSTEMS B.V.
代理机构：Young & Thompson
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