机器人遥操作预测控制新方法及实现

An New Measure to Handle the Problem of Time-Delay in Telerobot System

本文通过所设计的估计器的预测以及同时采用事件和时间驱动的执行器方案来弥补机器人遥操作系统中的不确定时延现象。利用该方案对机器人遥操作系统所涉及的试验的软硬件进行设计,试验结果说明了此补偿策略的有效性。

In this paper, a predictive controller and event/time-driven actuators were developed to handle the problem of uncertain time-delay in the telerobot system. A related experiment （including design of software parts and hardware parts） was set up to and the result show this method validity.