中文摘要：

预测仿真技术是目前消除大时延对遥操作影响的主要方法。在操作者控制虚拟机械臂与仿真环境中的物体接触之前,仅有的视觉信息不足以提供充分的临场感信息,操作者无法进行安全有效的操作;由于肌肉颤抖等原因导致徒手控制的精度较低,操作者无法进行精确的操作。针对这两个问题,使用虚拟夹具技术对操作者的动作进行限制和引导。实验结果表明,在虚拟夹具的辅助下,可以有效提高操作者的临场感,使操作者快速准确完成遥操作任务。

英文摘要：

The predictive simulation technology is an effective way to remove the influence of large time delay of the teleoperation.Before interacting with the virtual environment using the robotic arm,the operator can not manipulate the robot safely and effectively due to little telepresence information caused by limited visual feedback.Furthermore,the precision of the operation is compromised by operator＇s own physical limitation.This paper presented a way that utilizes virtual fixtures as a restriction as well as a guide to the operator.The experimental results indicate that the operator＇s telepresence can be greatly improved,and the operator can complete the task quickly and precisely.