遥操作系统的控制结构与控制方法综述

摘要

Tele-operation systems are widely applied to the environments that are inaccessible or too hazardous for the human to be in. Tele-operation systems have been one of the most challenging topics in robotic fields. However, there are few systematic researches on the control architectures and control approaches of tele-operation systems. In this paper, the main goals are to ensure the stability and transparency of tele-operation systems. The basic principles of various control architectures and control approaches are comparatively introduced. The advantages and disadvantages of each architecture and approach are pointed out. Finally, the possible future research topics in tele-operation are presented. This paper realizes systematic analysis of the existing control architectures and control approaches of tele-operation systems.%遥操作系统广泛应用于各种人类难以进入的或者危险的环境，是机器人领域内最具挑战性的研究方向之一，但目前缺乏对遥操作系统控制结构和控制方法的系统研究。笔者以确保透明性和稳定性为遥操作系统的主要目标，采用对比的方法介绍了各种控制结构以及控制方法的基本原理，分别指出了各种方法的优点和不足，并提出了遥操作领域内进一步的研究方向，从而实现了对遥操作系统现有控制结构和控制方法的系统分析。