无时延感的遥操作实时共享控制仿真  

Real-time shared control simulation without time delay for teleoperation

作　　者：李华忠[1] 梁永生[1] 唐强平[1] 刘云霞[1] 洪炳熔[2] 

机构地区：[1]深圳信息职业技术学院软件工程系,广东深圳518029 [2]哈尔滨工业大学计算机科学与工程系,哈尔滨150006

出　　处：《计算机工程与应用》2009年第3期11-15,共5页Computer Engineering and Applications

基　　金：国家自然科学基金(No.69985002);国家高技术研究发展计划(863)(No.2001AA422270)~~

摘　　要：针对遥操作存在大延时和临场感缺失等问题,提出了一种融合多种技术的无时延感的空间遥控机器人实时共享控制系统;重点研究了融合双向力反馈、传感器局部自主控制、图形预显示和遥编程的无时延感遥操作技术;计算仿真实验验证了该系统及其技术的有效性。For the existence of large time delay and telepresence lack in the teleoperation,the real-time shared control system without time-delay for space telerobot has been proposed,which has integrated a variety of technologies.The key technologies including two-way force feedback,local sensor intelligent control information,teleprogramming and predictive displays without time delay have been researched emphatically.The computer simulation has verified the effectiveness of the proposed system and its technology.

关 键 词：空间遥控机器人 共享控制 遥操作 遥编程 仿真 时延 

分 类 号：TP39[自动化与计算机技术—计算机应用技术] TP242.3[自动化与计算机技术—计算机科学与技术]