基于事件预测的遥操作机器人系统的性能分析
Performance Analysis of Telerobotic System Based on Event Prediction
查看参考文献23篇
文摘
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Internet的时变时延及数据丢包严重影响了互联网遥操作机器人系统的操作性能,甚至造成了系统不稳定.为降低时变时延对遥操作机器人系统性能的影响,文中基于具可变滑动窗口的稀疏多元线性回归算法提出了单步时延预测算法,并在此基础上设计了基于事件预测的网络遥操作机器人系统.该系统在主端加入基于时延预测的离散路径管理器,它通过求解超前的优化函数,在线产生一个合适的预测路径的事件参数,从而提高跟踪性能和环境适应能力以应付突发事件的发生.根据Lyapunov稳定性定理,文中还推导得到了该系统的稳定性条件.本地实验和跨地区的遥操作机器人实验结果表明,文中方法能有效解决时变时延以及网络数据丢包引起的稳定性问题和性能下降问题. |
其他语种文摘
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The variable time delay and packet loss of Internet significantly degrade the manipulability of Internetbased telerobotic systems and even make the systems unstable. In order to lessen the influence of the variable time delay on the system performance, a single-step time-delay prediction algorithm is proposed based on the sparse multivariate linear regression algorithm of variable sliding windows. Then, a new Internet-based telerobotic system is built up in view of event prediction. In the proposed system, a discrete path governor based on time delay prediction is added at the master site, which generates a suitable event parameter online for predicting the path by solving a look-ahead optimization function, thus improving the tracking performance and environmental adaptability of the proposed system so as to deal with emergent events. Moreover, the stability conditions of the proposed system are also proposed according to the Lyapunov stability theorem. The results of local and trans-regional experiments of a telerobot demonstrate that the proposed methods can effectively solve the stability and performance degradation problems caused by the variable time delay and the packet loss. |
来源
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华南理工大学学报. 自然科学版
,2012,40(9):123-130 【核心库】
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DOI
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10.3969/j.issn.1000-565x.2012.09.021
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关键词
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机器人
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遥操作
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时延预测
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事件预测
;
稳定性
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地址
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1.
福州大学电气工程与自动化学院∥先进控制技术研究中心, 福建, 福州, 350108
2.
中国科学院沈阳自动化研究所, 辽宁, 沈阳, 110016
3.
福州大学机械工程及自动化学院, 福建, 福州, 350108
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语种
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中文 |
ISSN
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1000-565X |
学科
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自动化技术、计算机技术 |
基金
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国家自然科学基金资助项目
;
福建省科技厅科技重大专项项目
;
福州大学科技发展基金
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文献收藏号
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CSCD:4674995
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