：构建了多信息感 辅f】JJ的网络遥操作机器人系统，该系统提供丫一种通过多信息感知手段辅助操作

肯决策的远程控制方式．尚 ，分卡斤J q络条件下遥操作机器人系统多信息感知的原理．该多信息包括机器人多传

感器和网络返 时延等信息．通过对这些多信息的预处理、分类和决策处理，将陔多信息以视觉、听觉、力觉、报警灯

和交瓦史本方式转化为人可感 』的信息．使用 络时延缓冲器和网络双连接，降低了网络可变时延对系统的影响．

最 ，长距离的网络遥操作实验验证r系统和控制策略的实用性和骨效性-: Construction of a multi-sense auxiliary f] JJ network telerobot system, the system to provide the Ah a perception through a multi-information decision-making means auxiliary operations Ken remote control way. Still, points card the telerobot system under multi-jin J q network conditions the principle of information perception. The multi-information including multi-robot sensor and network back to delay. Visual, auditory, haptic and more information of these pre-processing, multi-information classification and decision-making process, Gai, the alarm lights and cross watts history of this way into a human sense " . Network delay buffer and network connections, and reduce the impact of network variable delay system. The most long-distance network teleoperation experiments verify the practicality of the system and control strategy of r and bone effectiveness