【摘要】 力觉临场感遥操作机器人系统是一种新型的机器人控制系统 ,目前研究中系统存在的控制通信时延是严重影响系统的操作性能、甚至使系统不稳定的主要原因之一。当利用Internet网络传输信号时 ,时延是时变的、不确定的 ,对系统的影响更为明显。因此意在介绍国内外力觉临场感遥操作机器人系统的发展状况以及在克服时延对系统影响方面所取得的最新研究进展 ,同时指出研究中存在的问题 ,及对进一步研究提出一些看法。更多还原

【Abstract】 The reflecting telerobot system of force sense is a novel robotic control system. One of the important cases which affect badly the system’s operation performance, even make system not be instable, is the time delay existence in the telerobot system. The influence for system’s performance becomes especially seriously in case of Internet based teleoperation, in which the time delay is time variable and uncertain. In this paper, the recent research progress in force reflecting telerobot system and about how to eliminate or reduce the effect of time delay to the system are introduced. As well as some problems in the study and further research are presented.更多还原