关键词: 遥机器人, 增强感知, 人机协作

Abstract: In order to make the telerobot work better under unstructured environments，the concept of“augmented” perception is proposed and the telerobot control system is designed with the function of augmented perception.In the system，the transmission mainly focuses on information of robot state，alarming，etc.，which enhances the operator’s perception of local state and remote environment and reduces the occupancy of transmission width and the resource for information playback.The motion controller designed based on DSP realizes the intelligent mediation and intelligent control.The shared control system having the function of manual control and autonomy that has been developed releases the operator from continuous and boring direct control，so the man-machine cooperative teleoperation is realized and the decision ability of the operator is exerted enough.Experimental results show the performance of the system.

Key words: telerobot, augmented perception, man-machine cooperation