针对一个基于网络的二自由度机械臂的远程控制系统，通过对影响系统性能的延时因素的分析，提出了离线与在线的延时补偿方案，弥补了远程控制在任务完成时间上与本地控制相比所存在的延时；并通过实际系统的远程操控实验进一步证实了理论分析的正确性与控制策略的有效性。

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.