中文摘要：

对二自由度主从遥操作机器人进行了详细的运动学和运动力学分析,得到了二自由度机器人的状态空间方程,再此基础上建立了遥操作系统中各个子系统详细的数学模型,搭建了一个比较完善的遥操作系统研究的仿真平台。为从端机械臂设计了PI控制算法来控制从机械手,使之跟随主机械手的运动。最后,在该实验平台进行了主从遥操作机械手的位置跟踪和力反馈实验。实验结果说明,当系统存在固定时延时,在本地PI控制器的作用下,从机械手在自由空间运动时,系统具有较好的稳定性和跟踪性能;而从机械手与坚硬的环境交互作用时,遥操作系统的稳定性要受到影响,主从机械手的运动有一定的波动。这就证明了力反馈对有时延遥操作系统的稳定性有不好的影响。但总体上说,在人手对主机械手有一定控制能力的条件下,PI控制器能在一定程度上保证从机械手对主机械手的位置跟踪。

英文摘要：

The aim of this paper is to build the simulation platform for the teleoperator with time-delay.By analyzing the kinematics and dynamics of manipulator with two-degrees of freedom,the state space models for master and slave manipulator are studied.The model for whole teleoperator system including human,master robot,communication channel,slave robot and the environment is developed in detail.The PI controller is designed for the slave manipulators for the position trajectory.The trajectory tracking experiments have been completed with the simulation platform the paper developed.The experiment result shows that the tracking performance and stability is good when the slave robot moves in the free space.When the slave robot interfaces with rigid environment,the stability of the whole system becomes worse,the expected master movement is disturbed by the force reflection from the environment.However the PI controller designed in the slave can make system stable in some degree when the human operator hold the master manipulator.