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Bogdan Liacu,Cesar Mendez-Barrios,Silviu-Iulian Niculescu,Sorin Olaru 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper addresses the “rade-off” between transparency and stability of some specific bilateral teleoperation systems including communication time-delays. Using a geometric approach, we derive a simple method to study the fragility of the proposed controller for a general 4-channel architecture for bilateral teleoperation with time-delays such that the closed-loop stability as well as the transparency are guaranteed for the overall scheme. Illustrative examples complete the presentation.