应用遥编程的大时延遥操作技术  

TELEOPERATION THROUGH LARGE TIME DELAYAPPLYING TELEPROGRAMMING

作　　者：李焱[1] 贺汉根[1] 

机构地区：[1]长沙国防科技大学机电工程与自动化学院,长沙410073

出　　处：《机器人》2001年第5期391-396,共6页Robot

基　　金：86 3-2空间机器人与遥科学资助项目"遥科学实验中的虚拟现实仿真技术"

摘　　要：如何克服通信线路中的大时延和有限带宽 ,是空间遥机器人面临的最重要的一个问题 .本文阐述了应用遥编程技术提高大时延遥操作的稳定性和操作精度的基本思想 .提出了一种将操作区分段 ,采取复合控制策略的遥操作方法 .同时介绍了基于遥编程概念的遥操作实验系统的设计及其试验结果 .How to overcome the difficulties produced from large time-delay and limited bandwidth in the communication link, is one of the important issues for space telerobots. In this paper, we introduce the principle of teleoperation applying teleprogramming, which is expected to promote the stability and the accuracy of the teleoperation through large time delay. According to the segmentation of the operation space, we propose a teleoperation scheme that contains multiple methods. We illustrate the implementation of our experimental teleoperation system based on teleprogramming, and describe the experimental results.

关 键 词：遥操作 遥编程 虚拟现实 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]