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在基于网络的遥操作机器人系统中,由于网络延时具有随机性、可变性和不可预测性,这将会影响遥操作的实时性、准确性和可靠性。文章提出了一种网络延时模型,分析了网络延时和命令数据包丢失对基于网络的机器人遥操作系统所造成的影响,以及由于网络信道负荷的动态变化和延时抖动对视频传输所造成的不连续性和抖动现象,并提出了相应的解决办法。通过基于网络的机器人遥操作实验证明了该文所提出方法的有效性和可行性。
In the network-based teleoperation robot system, due to the randomness, variability and unpredictability of network delay, it will affect the real-time, accuracy and reliability of teleoperation. This paper presents a model of network delay, analyzes the impact of network delay and command packet loss on the teleoperation system of network-based robots, as well as the video transmission caused by the dynamic changes of network channel load and delay jitter The discontinuity and jitter phenomenon, and put forward the corresponding solution. The validity and feasibility of the method proposed in this paper are proved through the experiment of robotic teleoperation based on internet.