Real-time shared control simulation without time delay for teleoperation

doi:10.3778/j.issn.1002-8331.2009.03.003

Computer Engineering and Applications ›› 2009, Vol. 45 ›› Issue (3): 11-15.DOI: 10.3778/j.issn.1002-8331.2009.03.003

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Real-time shared control simulation without time delay for teleoperation

LI Hua-zhong¹,LIANG Yong-sheng¹,TANG Qiang-ping¹,LIU Yun-xia¹,HONG Bing-rong²

1.Department of Software Enginerring，Shenzhen Institute of Information Technology，Shenzhen，Guangzhou 518029，China
2.Department of Computer，Harbin Institute of Technology，Harbin 150006，China

Received:2008-09-22 Revised:2008-11-03 Online:2009-01-21 Published:2009-01-21
Contact: LI Hua-zhong

无时延感的遥操作实时共享控制仿真

李华忠¹,梁永生¹,唐强平¹,刘云霞¹,洪炳熔²

1.深圳信息职业技术学院软件工程系，广东深圳 518029
2.哈尔滨工业大学计算机科学与工程系，哈尔滨 150006

通讯作者: 李华忠

Abstract

Abstract: For the existence of large time delay and telepresence lack in the teleoperation，the real-time shared control system without time-delay for space telerobot has been proposed，which has integrated a variety of technologies.The key technologies including two-way force feedback，local sensor intelligent control information，teleprogramming and predictive displays without time delay have been researched emphatically.The computer simulation has verified the effectiveness of the proposed system and its technology.

Key words: space telerobot, shared control, teleoperation, teleprogramming, simulation, time delay

摘要： 针对遥操作存在大延时和临场感缺失等问题，提出了一种融合多种技术的无时延感的空间遥控机器人实时共享控制系统；重点研究了融合双向力反馈、传感器局部自主控制、图形预显示和遥编程的无时延感遥操作技术；计算仿真实验验证了该系统及其技术的有效性。

关键词: 空间遥控机器人, 共享控制, 遥操作, 遥编程, 仿真, 时延

LI Hua-zhong¹,LIANG Yong-sheng¹,TANG Qiang-ping¹,LIU Yun-xia¹,HONG Bing-rong². Real-time shared control simulation without time delay for teleoperation[J]. Computer Engineering and Applications, 2009, 45(3): 11-15.

李华忠¹,梁永生¹,唐强平¹,刘云霞¹,洪炳熔². 无时延感的遥操作实时共享控制仿真[J]. 计算机工程与应用, 2009, 45(3): 11-15.

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Real-time shared control simulation without time delay for teleoperation

无时延感的遥操作实时共享控制仿真

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