We adopt the sliding average least square (SALS) method to identify the parameters of mass, damp, stiffness of the remote environment and use this information to modify the dynamic model of the environment.

• 采用滑动平均最小二乘法(SALS)来实时辨识远地工作环境的质量、阻尼和刚度,建立和修正远地环境的动力学模型。