摘要:
如何克服通信线路中的大时延和有限带宽，是空间遥机器人面临的最重要的一个问题．本文阐述了应用遥编程技术提高大时延遥操作的稳定性和操作精度的基本思想．提出了一种将操作区分段，采取复合控制策略的遥操作方法．同时介绍了基于遥编程概念的遥操作实验系统的设计及其试验结果．
Abstract:
How to overcome the difficulties produced from large time-delay and limited bandwidth in the communication link, is one of the important issues for space telerobots. In this paper, we introduce the principle of teleoperation applying teleprogramming, which is expected to promote the stability and the accuracy of the teleoperation through large time delay. According to the segmentation of the operation space, we propose a teleoperation scheme that contains multiple methods. We illustrate the implementation of our experimental teleoperation system based on teleprogramming, and describe the experimental results.