空间机器人遥操作克服时延影响的研究进展  

Research Headway of Overcoming Time-Delay Infection for Teleoperation of Space Robot

作　　者：陈俊杰[1] 

机构地区：[1]东南大学仪器科学与工程系,江苏南京210096

出　　处：《测控技术》2007年第2期1-4,7,共5页Measurement & Control Technology

基　　金：国家863高技术项目(2002AA742048);江苏省高技术研究项目(BG2006341);江苏省普通高校高新技术产业发展重点项目(JHB05-05)

摘　　要：针对空间机器人遥操作亟需解决的时延问题,回顾了其克服时延影响的研究发展历程,并对目前应该采取的应对策略提出了建议。指出就目前的技术发展水平而言,要能够有效地克服时延以确保空间机器人遥操作稳定性的同时系统具有良好的操作性能,应该采取的策略是:①在结构化的、确定性的和静态环境下,采用具有鲁棒性的多感知增强现实技术;②在非结构化的、不确定性的和动态环境下,采用视觉引导下的从端局部智能自主控制技术;③在多态环境下,采用多模式智能控制技术。Being aimed at the pressing problem to settle the time-delay for teleoperation of space robot, researching and developing strategy and its latest researching headway of overcoming time-delay infection for teleoperation of robot are summarized. And the suggestions of present countermeasure for overcoming time-delay infection are hrought forward. It is pointed out that, for overcoming time-delay infection of teleoperation of space robot and ensuring the stability and transparency of telerobot system in space, developing strategies should be that ①augmented reality technology with multi-apperception and robustness is adopted for configurative, certain and static environments; ②the control technology of intelligent independence in slave local system with vision assistant is adopted for non-configurative, uncertain and dynamic environments; and ③intelligent control technology with multi-modes is adopted for multi-states environments.

关 键 词：空间机器人 遥操作 时延 虚拟现实 智能控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]