机器人2017，Vol.39Issue(3)：298-306,9.DOI:10.13973/j.cnki.robot.2017.0298
基于时延预测的遥操作机器人预测显示方法
Predictive Display for Telerobot Based on Time-delay Prediction
摘要
Abstract
In order to solve the predictive display problem of teleoperation system with large time-varying delay, a pre-dictive display method based on time delay prediction is proposed. In this method, the tensile and compressive effects of the varying communication delay on the master-slave control signal in the time dimension are considered as system distur-bance, and the on-line delay prediction result is used to perform feedforward compensation on this disturbance. Firstly, the dynamic model of the predictive display based teleoperation system is presented, and the expected control variable of the predictive robot with disturbance is calculated. Then, the mechanism of the communication delay of the space teleopera-tion system which has the most complex delay composition is analyzed, and the delay is predicted on line according to it's generation mechanism, model and statistical law. Finally, the feasibility and effectiveness of disturbance compensation by delay prediction results are analyzed theoretically, and a contrast test is conducted on the theoretical verification teleoperation system. Experimental results show that compared with predictive display method without time-delay prediction, the proposed method's relative errors of the velocity prediction and the contact force prediction decrease 30.9%and 56%at the peak of errors respectively, under large time-varying delay.关键词
大时变时延/遥操作/预测显示/时延预测Key words
large time-varying delay/teleoperation/predictive display/time-delay prediction分类
信息技术与安全科学引用本文复制引用
魏青,崔龙..基于时延预测的遥操作机器人预测显示方法[J].机器人,2017,39(3):298-306,9.基金项目
国家磁约束核聚变能发展研究专项(2012GB102005). （2012GB102005）
