王清阳, 王越超. 基于谓词不变性的状态反馈控制在机器人遥操作中的应用[J]. 机器人, 2003, 25(5): 428-431,443.
引用本文: 王清阳, 王越超. 基于谓词不变性的状态反馈控制在机器人遥操作中的应用[J]. 机器人, 2003, 25(5): 428-431,443.
WANG Qing-yang, XI Ning. STATE FEEDBACK OF PREDICATE-INVARIANCE FOR ROBOT TELEOPERATION[J]. ROBOT, 2003, 25(5): 428-431,443.
Citation: WANG Qing-yang, XI Ning. STATE FEEDBACK OF PREDICATE-INVARIANCE FOR ROBOT TELEOPERATION[J]. ROBOT, 2003, 25(5): 428-431,443.

基于谓词不变性的状态反馈控制在机器人遥操作中的应用

STATE FEEDBACK OF PREDICATE-INVARIANCE FOR ROBOT TELEOPERATION

  • 摘要: 传统的基于事件遥操作系统虽然巧妙地避开了变化时延问题8,但是它具有“走走停停”的特点,即机器人将当前状态发送出去之后直到操作者的下一个指令到来之前机器人必须保证状态没有变化。对此本文首次提出了利用基于谓词不变性的状态反馈控制来对原有的方法进行改进,使机器人能够对动态环境具有适应性.

     

    Abstract: 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”.

     

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