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遥操作仿真系统主要用于解决航天机器人遥操作过程中所遇到的大时延问题。本系统由三维实时仿真系统以及实际机器人实验系统两部分组成。操作人员输入的各个控制指令都会立即被三维实时仿真系统中的仿真机器人所响应 ,这些控制指令经过一定的时延以后传入实际机器人实验系统。同时遥操作系统可以通过比较传回的实际机器人状态和仿真机器人的状态来验证操作效果。因此本系统较好地解决了大时延下的遥操作问题
Teleoperation simulation system is mainly used to solve the large delay problems encountered in the remote operation of space robots. The system consists of three-dimensional real-time simulation system and the actual robot system consists of two parts. Each control instruction input by the operator will be immediately responded to by the simulation robot in the three-dimensional real-time simulation system. After a certain delay, these control instructions are transmitted to the actual robot experiment system. At the same time, the teleoperation system can verify the operation effect by comparing the actual robot state returned and the simulation robot state. Therefore, the system better solves the problem of teleoperation under large time delay