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

摘要： 为了更好地实现非结构环境下的遥机器人作业，提出了“增强感知”这一概念，并设计了具有增强感知功能的遥机器人控制系统。在该系统中机器人的状态、报警等重要信息成为输出通道传输的重点，在减少对信息传输带宽和再现信息资源占用的同时提高操作者对本地状态的意识和对远程环境的感知。基于DSP设计的运动控制器，很好地实现了系统的智能控制和智能协调。所开发的具有遥控和自主协调操作功能的共享控制系统将操作者从连续、无聊的直接控制中解放出来，充分发挥了操作者的决策能力，实现了人机协作遥操作。实验结果显示了系统的性能。

关键词: 遥机器人, 增强感知, 人机协作