STATE FEEDBACK OF PREDICATE-INVARIANCE FOR ROBOT TELEOPERATION

Under the assumption that environment does not change when robot is stationary,the traditional robot teleoperation derived by event avoids the problem of variable time delay,but at the same time it causes the robot to have the shortcoming of “moveing and waiting”.In this paper,state feedback of predicate-invariance is introduced to make robot adapt the dynamic environment and overcome the shortcoming of “moveing and waiting”.