临场感遥操作机器人系统克服时延影响的研究发展策略

Researching and Developing Strategy of Overcoming Time-delay Infection for Telepresence Telerobot System

时延问题是临场感遥操作机器人系统中亟需解决的首要问题。为了了解临场感遥操作机器人系统克服时延影响的研究发展策略及其最近的研究进展 ;指出基于虚拟现实技术的临场感遥操作机器人系统是今后临场感机器人技术研究和发展的主潮流 ;认为致力于设计并研究对几何建模误差和动力学建模误差均具有鲁棒性的临场感遥操作机器人系统 ,才是有效地解决系统通信时延问题 ,并使其系统稳定 ,又具有良好可操作性的切实可行的办法。

Time-delay problem is a chief problem of desiderating to settle in telepresence telerobot system. Researching and developing strategy and the latest researching headway of overcoming time-delay infection for telepresence telerobot system are summarized. The telepresence telerobot system based on virtual reality technology is main tideway of researching and developing for telepresence robot technology for the future. Designing and researching of the telepresence telerobot system having robustness for geometry and dynamic modeling error are effective and it is also a practical method for settling communication time-delay problem. Such system pledges itself to the stability and possesses well maneuverability.