Research on telerobot control modes and timely automatic switching strategy

A multi-control modes timely automatic switching strategy is proposed and two common control modes are improved aiming at the problems of present telerobot system, including poor human-machine coordinated interaction ability, single operation mode, low system efficiency, operator in the state of continuous and boring direct control and low stability. Supervisory mode with virtual feedback model and predictive/preview mode with dual virtual model overlapping display are proposed. Finally, the process of control strategy is simulated with colored Petri net and an experimental platform is built to verify the control strategy in the actual task. The simulation and experimental results show that the control modes and control strategy are reasonable and effective.