| Based on the American ROCKY7 planet exploration robot, essential realization methods of Predictive Display technology are primarily discussed in the dissertation. Sliding mode control scheme is applied to the master-slave system with time-delay, and many simulations and experiments are performed at the same time. The simulation results show that sensitivity of the master-slave system with controller based on impedance-sliding mode control is effectively weakened as well as the existence of robustness for the variant time-delay.Now the development and exploration of the moon has become one of the most important activities of human. Lunar rover is an imperative exploration tool and meanings in order to accomplish the task of lunar face exploration. Not only the environment materials of lunar surface can be achieved but also the rocks and soil samples are collected through the exploration, which is ready for the manned lunar expedition and can provide technology support for the base of the moon. The major problem of the lunar rover teleoperation is time-delay and the limited data transportation bandwidth between communication of the space and ground. The communication time-delay concludes the delay of remote control commands and telemetry signals, which is brought by light transportation speed. The close-loop feedback system of continuous teleoperation becomes instable due to the time-delay. Now 3D Predictive Display simulation is the primary approach to solve the large time-delay teleoperation, which is performed under the friendly human-machine interface, so Predictive Display simulation system of the lunar rover and lunar environment needs to be set up. Moreover, bilateral control scheme can make the operator have the feeling of force telepresence, especially being applied to master-slave control system with more difficult and complex task, so the discussion of bilateral control method is also meaningful. In this dissertation, three-dimensionally controllable modeling method is deeply discussed as well as the bilateral control technology. First, the general situation and present development of the teleoperation technology is summarized as well as the background and practical meanings of the teleoperation, moreover Predictive Display and bilateral control methods are essentially emphasized. The analysis of all sorts of technologies is presented and two classes are given: the class based on the model and the one based on the bilateral control.Then, the pivotal problem of lunar surface exploration is introduced and the essential idea of lunar rover share control is also discussed. A new control scheme, in which an additional "reference robot" added to the master is combined with operator in order to constitute a new master-slave system with less time-delay, is given based on the virtues and shortcomings of the model and bilateral control scheme via the analysis about the constitution of the lunar rover remote control system. The designed scheme not only alleviates the dependence of the system on the model, but also intensifies the force telepresence feeling of the operator. Furthermore, two control structures based on teleprogramming and based on impendence-sliding mode control are advanced, of which the former is affiliated to control scheme based on the model and the later belongs to the bilateral control approach.According to the basic idea of the 3D Predictive Display technology, a realization method of the three-dimensionally controllable modeling is presented. In this method, three-dimensional static model is set up in the 3DSMax environment, and then the three-dimensional image is transformed into stl document. After getting the data information of the stl document, the respective VC program is compiled. The three-dimensional model is controlled through the function of OpenGL technology. The basic function of man-machine interface is concluded, and finally man-machine interactivity between human and the lunar rover is achieved through the compiled VC program based on the MFC Class li...
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