多信息感知辅助的网络遥操作机器人系统

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

1.
华南理工大学自动化科学与工程学院基于网络和现场总线实时控制实验室,广东广州 510640
2.
香港中文大学机械与自动化工程学系,香港新界沙田

详细信息

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．

中图分类号: TP24
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出版历程
- 收稿日期: 2007-04-23
- 发布日期: 2008-01-14

Multi-information Perception Aided Teleoperated Robot System over Internet

1.
Laboratory of Real-Time Control through Internet and Fieldbuses, College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China
2.
Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N. T. , Hongkong, China

摘要

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．
- 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.
- teleoperation /
- Internet robot /
- multi-information perception

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参考文献(32)

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文章访问数: 42
HTML全文浏览量: 1538
PDF下载量: 268
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多信息感知辅助的网络遥操作机器人系统

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Multi-information Perception Aided Teleoperated Robot System over Internet

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