Design of Delay Test System for Remotely Operated Robots Under Time-domain Continuum
Aiming at the problem of insufficient measurement accuracy of discrete output signal in time domain due to low sampling frequency of existing methods of master slave time delay measurement of remote operation robot,a time-delay testing sys-tem and method for continuous remote operation robot in time domain were designed and proposed.Firstly,a dual-channel oscilloscope was used to collect the motion analog quantity of the master-slave end devices and was converted into a voltage-time curve.Then the periodic interference of the waveform curve was suppressed by the average filtering algorithm to further eliminate the system fluctuation error.Finally,the curve slope mutation points were analyzed to record the time stamps of motion occurrence of the master-slave ends,and the difference of the time stamps was calculated to obtain the master-slave control delay of the re-motely operated robot.The delay test experiment of remote ultrasonic scanning robot shows that compared with the existing test methods,the test results of the proposed test system and method are closer to the theoretical delay,which verifies the validity and reliability of the proposed method.
time domain continuumremote operation robotdelay quantizationreal time measurementmaster-slave following
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