大时延环境下的分布式遥操作系统

Distributed telerobotic system with large time delay

遥操作仿真系统主要用于解决航天机器人遥操作过程中所遇到的大时延问题。本系统由三维实时仿真系统以及实际机器人实验系统两部分组成。操作人员输入的各个控制指令都会立即被三维实时仿真系统中的仿真机器人所响应 ,这些控制指令经过一定的时延以后传入实际机器人实验系统。同时遥操作系统可以通过比较传回的实际机器人状态和仿真机器人的状态来验证操作效果。

Teleoperation system with distributed simulation is introduced. The system is used to solve the round trip time delay problem in space robot teleoperation system. The system includes a 3D simulation robot and a real robot. The command sequences are generated in conjunction with the movement of the simulation robot and are sent to the real robot after the simulation time delay. The data returned from the real robot is compared with the data from the simulation robot to verify operation results.