面向多机器人遥操作的分布式预测图形仿真系统

在遥操作机器人系统中，由于存在通信传输时延，可能导致控制系统不稳定，从而降 低遥操作的效率和安全性．目前多采用预测仿真的方法来克服．在多机器人遥操作系统不但 要克服时延的影响，还要能控制机器人协调地完成遥操作任务．我们开发了一个面向多操作 者 多机器人遥操作的分布式预测图形仿真系统，实现了对多机器人遥操作系统的预测仿真 ，多个操作者可以通过人机交互接口遥控各自的机器人，相互协调完成遥操作的任务．初步 的实验表明该系统能够克服时延的影响，并能实现多操作者 多机器人的协调遥操作．这对 空间站机器人科学实验、多航行器对接等方面的研究有理论参考价值．

DISTRIBUTED PREDICTIVE GRAPHICAL SIMULATION SYSTEM FOR MULTI-TELEROBOTS

There is constant or variant propagation time delay in telerobotic systems, and it can conduct the instability of the robotic system and degrades human teleoperator's intuition and effectiveness. Multi telerobotic system not only should overcome the affection of time delay, but also should work coordinately to accomplish complex tasks. This paper describes our development effort on the distributed predictive graphical simulation system for multi teleoperator multi telerobot. In this paper, a virtual reality based distributed graphic predictive display system, which implements the predictive simulation for multi telerobot and accommodates multi teleoperator to teleoperate the robot of himself by the human machine interactive interface respectively, is developed, and a framework for multi telerobot cooperation is proposed. Preliminary experimental results show that the system is effective to overcome the time delay and facilitate multi operator to interact with multi telerobot, and it can be applied to future researches on robotic experiment in space station and the jointing of multi aircraft.