基于网络机械臂远程控制系统延时补偿的研究与实现  

Research and implementation about compensation for time delay in network-based robot arm remote control system

作　　者：郑桦[1] 丛爽[1] 魏子翔[1] 

机构地区：[1]中国科学技术大学自动化系,合肥230027

出　　处：《中国科学院研究生院学报》2007年第4期530-536,共7页Journal of the Graduate School of the Chinese Academy of Sciences

基　　金：国家自然科学基金项目(50375148)资助

摘　　要：针对一个基于网络的二自由度机械臂的远程控制系统,通过对影响系统性能的延时因素的分析,提出了离线与在线的延时补偿方案,弥补了远程控制在任务完成时间上与本地控制相比所存在的延时;并通过实际系统的远程操控实验进一步证实了理论分析的正确性与控制策略的有效性.For a network-based 2-DOF robot arm remote control system, an off-line and an on-line time delay compensation schemes were proposed respectively after analyzing the delay factors which affect the system performance, in order to make up for the delay of task-finished time from the remote control by contrast with the local control. The rationality and validity of these two schemes were further verified by their experimental implementation in a practical network-based remote control system for 2-DOF robot arm.

关 键 词：远程控制 延时补偿 机械臂系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]