| 空间机器人大时延遥操作技术研究综述 |
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| 引用本文： | 王永,谢圆,周建亮.空间机器人大时延遥操作技术研究综述[J].宇航学报,2010,31(2). |
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| 作者姓名： | 王永 谢圆 周建亮 |
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| 作者单位： | 1. 中国科学技术大学自动化系,合肥,230027
2. 中国科学技术大学自动化系,合肥,230027;北京航天飞行控制中心,北京,100094 |
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| 摘 要： | 空间机器人是完成多种空间作业任务的主体,能否在地空间存在大时延情况下实现有效的地面遥操作是发挥空间机器人作用的关键。从基于虚拟预测环境遥操作和双边遥操作两个方面,对国内外空间机器人大时延遥操作技术研究进行了系统的综述和深入的分析,并在此基础上提出了进一步的发展方向。
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| 关 键 词： | 空间机器人 遥操作 基于虚拟预测环境遥操作 双边遥操作 |
A Researsh Survey on Teleoperation of Space Robot Through Time Delay |
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| WANG Yong,XIE Yuan,ZHOU Jian-liang.A Researsh Survey on Teleoperation of Space Robot Through Time Delay[J].Journal of Astronautics,2010,31(2). |
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| Authors: | WANG Yong XIE Yuan ZHOU Jian-liang |
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| Institution: | WANG Yong1,XIE Yuan1,2,ZHOU Jian-liang1,2(1.Department of Automation,USTC,Hefei 230027,China,2.Beijing Aerospace Control Center,Beijing 100094,China) |
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| Abstract: | Space robots are essential for a variaty of space missions.Whether space robots can make effects largely depends on the performance of teleoperation from ground,under large time-delay between space and ground.This survey addresses this subject from two parts:virtual environment-based teleoperation,bilateral teleoperation.Profound analysis and suggestions of future work are given based on literatures. |
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| Keywords: | Space robot Teleoperation Virtual environment-based teleoperation Bilateral teleoperation |
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