Teleoperation method for accurately capturing non-cooperative target under variable time delay condition

The invention discloses a teleoperation method for accurately capturing a non-cooperative target under a variable time delay condition, and belongs to the technical field of space robot teleoperation.The teleoperation method comprises the following steps of a movement prediction step: at the current moment, generating an instruction at the current moment at a master end according to a moving signal and sending the instruction to a slave end; based on the instruction sequence sent to the slave end from the master end and the state sequence of the slave end, predicting the state of a slave-endmechanical arm after executing the instruction sent by the master end at the current moment by utilizing an artificial neural network, wherein the instruction is used for indicating the moving angle of each joint of the slave-end mechanical arm, and the moving signal is generated based on a prediction result of a previous moment and is used for indicating position information of movement of the tail end of the slave-end me