共查询到16条相似文献,搜索用时 125 毫秒
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通过Internet网络操作远端的机器人可以扩展人类的控制能力,但系统的复杂性和不确定性使如何更好地表现其良好性能成为目前的热点问题。通过对多机器人网络遥操作系统控制模式分析,阐明了以智能体技术为支撑,实现操作者智能与机器人局部自主能力的结合,完成多操作者多机器人Internet网络遥操作任务。在对多智能体技术概述基础上,重点分析智能体之间的联结特点,建立具有公共属性的智能体模块化层次结构,给出各模块的功能描述。在此基础上,实现基于多层分布式黑板模型和智能体节点的多机器人网络遥操作系统体系结构。最后设计一组辅助医学操作试验,通过测试实时避碰智能体的工作状态和效率验证了多智能体结构框架下多机器人网络遥操作的可行性和有效性。 相似文献
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李岩 《机电产品开发与创新》2009,22(3):13-15
针对基于Web的机器人遥操作及运动仿真进行研究,提出了三层B/S结构模型,实现了以.Net分布式远程调用技术为网络基础的机器人远程控制,并结合VRML三维建模进行运动仿真,有效的提高了机器人遥操作的可靠性以及位置精确性,最终以三自由度机器人为例,验证了系统有效性。 相似文献
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系统地讨论了基于虚拟现实技术的机器人无线遥控系统,并以液压伺服驱动的工程机器人为研究对象,搭建了具有临场感的机器人遥操作平台.针对遥操作中普遍存在的时延问题,采取视频监控与虚拟现实相结合的技术,通过在控制回路中引入仿真机器人和虚拟环境来解决.基于虚拟现实的遥操作,操作人员直接面向虚拟场景中的图形机器人来完成遥控作业任务,而现场端的视频信息反馈只起到辅助监控的目的,这样就可以利用图形机器人对操作者输入指令的即时响应来避开底层通讯时延的影响,现场机器人的动作是经过一定时间延迟后图形机器人运动的再现.实验表明,本系统可以较好地实现大时延遥操作中的临场感作业. 相似文献
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基于Internet力觉临场感遥操作机器人系统的研究 总被引:1,自引:0,他引:1
虽然Internet技术扩大了遥操作机器人系统的应用范围,同时也带来了新的问题——时延。针对不同性质的时延本文综述了基于Internet力觉临场感遥操作机器人系统的国内外发展状况、系统构成以及为解决时延问题提出的遥操作系统的主要控制方法并指出了各方法的优缺点,最后展望了其发展前景。 相似文献
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大时延环境下空间机器人的可靠遥操作策略 总被引:1,自引:0,他引:1
《机械工程学报》2017,(11)
在分析大时延环境下遥操作特点的基础上,从使用可靠性角度提出一种可靠遥操作的多层策略集。将各可靠遥操作策略分解在数据层、算法层、操作层、策略层以及系统层并分别展开说明,涵盖了大时延环境下的数据交互、空间机器人关节指令序列的嵌套位置/速度规划、操作员与遥操作系统交互、遥操作任务运行流程与应急和遥操作系统监测/在线维护等方面的策略。此外,对可靠遥操作中尚待解决的动作反演、操作引导和共享遥操作技术进行了分析和展望。开展了某不确定大时延环境下的空间机器人遥操作试验,试验的数据分析结果说明不同层次的遥操作可靠性性策略均十分必要,以操作员为对象的可靠性提升策略和设计方法是可靠遥操作技术发展的重要方向。 相似文献
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机器人遥操作是实现空间、医疗及深海等领域作业的重要手段,基于虚拟现实的机器人遥操作是克服时延的有效方法,具有透明性强、稳定性高的优点,成为当前机器人遥操作的主要方式。首先分析了基于虚拟现实的机器人遥操作系统的关键组成部分,并对其关键模块的具体作用进行了介绍;其次,归纳分析了各类虚拟现实环境建模方法,主要从几何建模和动力学建模方面展开,阐述了每种方法的应用领域、主要特点;此外,进一步分析了遥操作虚拟夹具设计的构建方法及适用领域。最后对当前存在的难点进行总结,指出今后研究的思路。 相似文献
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WANG Shihua XU Bugong WANG Shihua ZHOU Yeming LIU YunHui 《Frontiers of Mechanical Engineering》2008,3(3):299
A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on the information exchange between the sensors at the master and slave sides. To precisely predict the time delay, a new timer synchronization algorithm is proposed. To decrease delay- jitter, a new data buffer scheme is performed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness of the proposed method and system are proven by teleoperation experiments via the internet over a long distance. 相似文献
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以实际工业应用为背景,基于Simulink / RTW,设计了一套机器人遥操作系统.在SolidWorks软件和MATLAB / Simulink环境下,分别构建了从机械手的三维模型和遥操作系统的控制模型,通过合适的软件接口,实现了遥操作系统的可视化联合仿真.在此基础上,通过Simulink / RTW工具箱,配合封装的I / O硬件功能模块,实现了快速原型代码的自动生成.使用Links Box实时仿真器作为下位机,通过电机运动控制卡实现与各关节电机驱动及各类传感器的连接,完成遥操作系统的设计.最后,对遥操作系统进行实验验证及性能分析.实验结果验证了该遥操作系统的正确性和有效性. 相似文献
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A particular emphasis is put on a novel wearable exoskeleton arm, ZJUESA, with 6 degrees of freedom, which is used for the robot teleoperation with the force-feedback in the unknown environment. In this external structure mechanism, the 3-revolution-prismatic-spherical (3RPS) parallel mechanism is devised from the concept of the human upper-limb anatomy and applied for the shoulder 3-DOF joint. Meanwhile, the orthogonal experiment design method is introduced for its optimal design. Aiming at enhancing the performance of teleoperation, the force feedback is employed by the pneumatic system on ZJUESA to produce the vivid feeling in addition to the soft control interface. Due to the compressibility and nonlinearity of the pneumatic force feedback system, a novel hybrid fuzzy controller for the precise force control is proposed and realized based on the Mega8 microcontroller units as the units of the distributed control system on ZJUESA. With the results of several experiments for master-slave control with force feedback, the feasibility of ZJUESA system and the effect of its hybrid fuzzy controller are verified. 相似文献
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Shihua WANG Bugong XU YunHui LIU Yeming ZHOU 《Frontiers of Mechanical Engineering in China》2008,3(3):299-306
A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network
delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor
proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on
the information exchange between the sensors at the master and slave sides. To precisely predict the time delay, a new timer
synchronization algorithm is proposed. To decrease delay-jitter, a new data buffer scheme is performed. Force feedback and
a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness
of the proposed method and system are proven by teleoperation experiments via the internet over a long distance.
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Translated from Robot, 2007, 29(4): 305–312 [译自: 机器人] 相似文献
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This paper proposes a cascade control scheme for delayed bilateral teleoperation of a quadcopter. The strategy transforms a 6D real quadcopter to an easy-to-teleoperate 3D virtual quadcopter. The scheme is formed by a P+d plus PID controller for each dof. The analysis based on Lyapunov theory gets as result the way to set the control parameters depending on the magnitude of the asymmetric time delays (forward and backward delays). This technic aims to reach stability, simplicity and good performance in practice. Besides, experimental tests about delayed bilateral teleoperation of a quadcopter including the proposed control scheme are shown in order to evaluate the system performance. 相似文献