曾庆军, 宋爱国, 黄惟一. 遥控作业器基于主动时延神经网络的感知和控制[J]. 机器人, 1997, 19(1): 50-55..
ZEN Qinjun, SONG Aiguo, HUANG Weiyi. SENSING AND CONTROL OF TELEOPERATOR BASED ON ACTIVE TIME DELAY NEURAL NETWORK. ROBOT, 1997, 19(1): 50-55..
Abstract：Teleoperator plays an important role in operation in unknown or hazardous environment.Because the environment is unknown or partly unknown,the human operator is not able to recongnize the dynamics of the environment before he controls the slave manipulator to interact with the environment.When there are interactions between slave manipulator and environment,it is necessary to consider the nonlinearity of collision in the control loop,therefore,the sensing and recongnization of collision between slave manipulator and environment on time is important.In this paper,proximity sensor is used to measure the distance between slave manipulator and environment,and a controller based on active time delay neural network is proposed to control the nonlinear contact,the effectiveness of which is showed by the result of simulation experiment.
1 Sheridan T B.Space Teleoperation Through Time Delay:Review and Prognosis.IEEE Trans on Rob and Auto,1993,9(5):592～606 2 Hannaford B,A nders on R.Experimental and Simulation Studies of Hard Contact in Force Reflection Teleoperation.IEEE Int Conf on Rob and A ut o,1988:584～589 3 Hannaford B.Stability and Performance Tradoffs in Bilateral Telemanipulation.IEEE Int Conf on Rob and Auto,1989:1764～1767 4 Shoji Y,Inaba M,Fukuda T.Stable Contact Force of a Link Manipulator with Collision Phenomena.IEEE Workshop on Intel Rob and Sys,1990:501～507 5 阎平凡,黄端旭.人工神经网络——模型、分析与应用.安徽教育出版社,1993
