多信息感知辅助的网络遥操作机器人系统

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王世华, 胥布工, 刘云辉, 贾允毅. 多信息感知辅助的网络遥操作机器人系统[J]. 机器人, 2008, 30(1): 47-55,62.. WANG Shi-hua, XU Bu-gong, LIU Yun-hui, JIA Yun-yi. Multi-information Perception Aided Teleoperated Robot System over Internet. ROBOT, 2008, 30(1): 47-55,62..

摘要构建了多信息感知辅助的网络遥操作机器人系统，该系统提供了一种通过多信息感知手段辅助操作者决策的远程控制方式．首先，分析了网络条件下遥操作机器人系统多信息感知的原理．该多信息包括机器人多传感器和网络返程时延等信息．通过对这些多信息的预处理、分类和决策处理，将该多信息以视觉、听觉、力觉、报警灯和交互文本方式转化为人可感知的信息．使用网络时延缓冲器和网络双连接，降低了网络可变时延对系统的影响．最后，长距离的网络遥操作实验验证了系统和控制策略的实用性和有效性．

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	王世华
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关键词 ：遥操作, 网络机器人, 多信息感知

Abstract：With the help of multi-information perception,a teleoperated robot system over Internet is proposed,which provides a tele-control mode through multi-information perception aided decision-making.First,the principle of multi-information perception in Internet-based teleoperated robot system is analyzed,and the multi-information includes data of robot sensors,network back delay,etc.After the multi-information is pre-processed and classified and the decision-making is done,the multi-information can be perceived by the operator with such modes as vision,audio,force,alarm box and interactive text.The use of network delay buffer and double data links decreases the impact from variable network delay.Finally,the usefulness and effectiveness of the developed schemes and system are validated by teleoperation experiments through Internet over long distance.

Key words： teleoperation Internet robot multi-information perception

收稿日期: 2007-04-24

TP24

基金资助:国家自然科学基金重点资助项目（60334010）；国家自然科学基金资助项目（60474047）；广东省自然科学基金资助项目（06105413）

作者简介: 王世华（1979- ），男，博士生．研究领域：机器人学，网络控制系统理论与应用．
胥布工（1956- ），男，教授，博士生导师，IEEE高级会员．研究领域：时滞和不确定控制系统的分析与综合，网络化控制系统理论及应用，IP网络和现场总线的应用．
刘云辉（1965- ），男，教授，博士生导师，IEEE高级会员．研究领域：机器人学，机电系统，视觉伺服．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2008/V30/I1/47

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