关键词: 远程控制, 延时补偿, 机械臂系统

Abstract: For a network-based 2-DOF robot arm remote control system, an off-line and an on-line time delay compensation schemes are proposed respectively after analyzing the delay factors which affect the system performance, in order to make up for the delay of task-finished time from the remote control by contrast with the local control. The rationality and validity of these two schemes were further verified by their experimental implementation in a practical network-based remote control system for 2-DOF robot arm.

Key words: remote control, time delay compensation, robot arm system