具有时延补偿的遥机器人预测控制系统

Telerobot Predictive Control System with Time Delay Compensation

遥机器人系统可广泛应用于高空探索、深海开发、远程作业或者是人类难以到达的危险、恶劣的作业环境中。基于所开发的运动控制器,搭建了一个具有视觉反馈的遥机器人预测控制系统,并对实际操作过程中控制信息的传输时延进行了补偿。文章详细介绍了系统的结构、视觉反馈及时延补偿的实现方法,并对所提出的时延补偿方法进行了测试。

Telerobot system can be widely used in high altitude exploration, deep-ocean exploitation, remote task or dangerous anti execrable task environment. The telerobot predictive control system with vision feedback is established based on the motion controller that has been developed. The time delay of control information is compensated in the process of practical operation. The system structure and the realization of vision feedback and time delay compensation are introdueed. Meanwhile, the time delay compensation strategy is tested.