科研之友
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摘要
On-orbit servicing robots were developed to complete the missions in the uncertain and hazards outer space. The operator controls the remote robot via teleoperation systems, which allows the operator to manipulate the robot at a distance. But, as the existing of communication time-delay affects the whole system stability, transparency and other performance index. Consequently, a proper teleoperation system could help the operator to perform missions more accurate. This paper presents the general scheme of the teleoperation system, compares the four typical control modes and estimates methods of time-delay. At last provides an outlook to future research directions.
- 出版日期2016
- 单位石家庄铁道大学
