中文摘要：

针对Internet络遥操作机器人实时控制问题，提出了一种基于时延切换的遥操作机器人控制方法．首先对网络节点间的网络时延进行测试分析，得到网络时延平移Gamma分布的种类，再通过预估网络时延分布种类的方法，预估网络时延，作为遥操作机器人系统的遥操作周期，建立主从端不同采样周期的网络遥操作机器人采样系统模型，在此基础上提出一种基于时延切换的遥操作机器人控制方法，模拟实验验证了该方法对于提高网络遥操作机器人系统的控制性能有效可行．

英文摘要：

From the view of real-time control problems of internet network teleoperation robot, the paper presents a control method of teleoperation robot based on time-delay switch. Firstly, the network delay among all the network nodes is tested and analyzed in order to get the styles of the translational gamma distribution on the network delay. Then the network delay is estimated as the teleoperation period of the teleoperation robot system with the method of estimating the distribution styles of the network delay. The sampling systemati- cal model of the network teleoperation robot is developed with different sampling periods on the master-slave terminals with the sampling systematical theory. Based on the model, the paper gives a control method on tele- operating the robot based on time-delay switch. The simulation experiments show that the method is effective for improving the control performance of the teleoperation robot system.