关键词: 机器人, 遥操作, 时延预测, 事件预测, 稳定性

Abstract:

The variable time delay and packet loss of Internet significantly degrade the manipulability of Internetbased telerobotic systems and even make the systems unstable. In order to lessen the influence of the variable time delay on the system performance,a single-step time-delay prediction algorithm is proposed based on the sparse multivariate linear regression algorithm of variable sliding windows. Then,a new Internet-based telerobotic system is built up in view of event prediction. In the proposed system,a discrete path governor based on time delay prediction is added at the master site, which generates a suitable event parameter online for predicting the path by solving a look-ahead optimization function,thus improving the tracking performance and environmental adaptability of the proposed system so as to deal with emergent events. Moreover,the stability conditions of the proposed system are also proposed according to the Lyapunov stability theorem. The results of local and trans-regional experiments of a telerobot demonstrate that the proposed methods can effectively solve the stability and performance degradation problems caused by the variable time delay and the packet loss.

Key words: robot, tele-operation, time-delay prediction, event prediction, stability