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中文摘要：
针对基于网络的智能机器人遥操作系统中人机交互的主要难点和现有方法的不足，结合基于网络的多机器人遥操作系统的特点，应用多模式控制的方法丰富了操作者与机器人系统的交互途径，提高了操作效率．在此基础上，为解决网络时延给多机器人遥操作系统中的人机交互带来的问题，提出了一种带有时间标记的基于事件的方法，在保证系统稳定运行的同时提高了系统的效率和性能．实验证明了所提方法的有效性和优越性．
英文摘要：
There are many difficulties in human-robot interaction in the network-based intelligent robot teleoperation system, and all the current approaches have their deficiencies. Based on the characteristics of network-based multi-robot teleoperation system, a multi-mode control method is applied to enhance the interaction between the operator and the robot system and to improve the efficiency of interaction. Then in order to solve the problems brought by the network latency in the interaction, an event-based approach with time marks is presented, which can guarantee system stability and improve system efficiency and performance. Experiments prove the validity and advantages of the presented methods.
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