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�������պ����ѧѧ�� 2004, Vol. 30 Issue (07) :631-634    DOI:
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������, ����У, ������*
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Effect of virtual coupling cell to the haptic system
Luo Yangyu, Wang Dangxiao, Zhang Yuru*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� The influence of virtual coupling cell on the stability and transparence of force interaction system was discussed, under the information flowing mode of impedance display. According to their special physical character, individual spring or damping cell is in series or in parallel connection with different virtual environment. Concerning a 1-DOF force interaction system, when the driving-point element of the environment is spring, the spring and damping cell is respectively in series connection with the environment as example. Through comparing with the original system, the influence of virtual coupling cell on the system stability and transparence was derived. The simulation results meet well with the analysis. In control design of force interaction system, reasonable choice of virtual coupling cell can effectively improve the system stability.
Keywords�� automatic control   stability   force interaction   virtual coupling cell   two-port   transparence     
Received 2003-03-24;


About author: ������(1975-),Ů,����������,��ʿ��, youngluo@sohu.com.
������, ����У, ������.����ƥ�䵥Ԫ����������ϵͳ����Ӱ�����[J]  �������պ����ѧѧ��, 2004,V30(07): 631-634
Luo Yangyu, Wang Dangxiao, Zhang Yuru.Effect of virtual coupling cell to the haptic system[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2004,V30(07): 631-634
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