基于MDL的机器人网络遥操作系统控制方法
MDL-Based Control Method for Tele-robotic Systems
查看参考文献35篇
|
文摘
|
为了降低遥操作系统对网络带宽的需求,实现系统中计算、通信等功能的合理划分,提出了基于运动描述语言(MDL)的机器人网络遥操作系统控制方法.利用机器人运动轨迹正交分解的方法得到了运动基元模型中的开环与闭环控制参数,保证了MDL的描述能力,并针对遥操作抓取任务定义了4类运动基元.以Phantom Omni为主端控制器、Motoman 6自由度机器人为被控对象建立了基于网络的机器人遥操作系统,并针对直接控制方法和基于MDL的控制方法进行了对比实验,实验结果验证了该方法的可行性与有效性. |
|
其他语种文摘
|
A control method based on motion description language (MDL) is proposed, to reduce requirement for network bandwidth and to distribute reasonably computational and communication resources in tele-robotic systems. The open-loop and closed-loop parameters in motion primitives are derived based on orthogonal decomposition of robot trajectory, by which the expressiveness of MDL is guaranteed, and four kinds of motion primitives are constructed for the tele-grasping task. A network-based tele-robotic system is constructed, in which the Phantom Omni is used as the master device and the Motoman 6-DOF industrial robot as the slave system. Experiments are conducted to compare the direct control method and the MDL-based control method, and experimental results demonstrate the feasibility and efficiency of the proposed method. |
|
来源
|
机器人
,2013,35(5):615-622 【核心库】
|
|
DOI
|
10.3724/sp.j.1218.2013.00615
|
|
关键词
|
机器人
;
遥操作
;
运动描述语言
;
运动基元
|
|
地址
|
1.
东北大学秦皇岛分校控制工程学院, 河北, 秦皇岛, 066004
2.
中国科学院沈阳自动化研究所, 机器人学国家重点实验室, 辽宁, 沈阳, 110016
|
|
语种
|
中文 |
|
文献类型
|
研究性论文 |
|
ISSN
|
1002-0446 |
|
学科
|
自动化技术、计算机技术 |
|
基金
|
国家自然科学基金资助项目
;
河北省自然科学基金
;
中央高校基本科研业务费专项资金资助项目
|
|
文献收藏号
|
CSCD:4953755
|
参考文献 共
35
共2页
|
|
1.
Hokayem P F. Bilateral teleoperation: An historicalsurvey.
Automatica,2006,42(12):2035-2057
|
被引
36
次
|
|
|
|
|
2.
宋爱国. 力觉临场感遥操作机器人(1):技术发展与现状.
南京信息工程大学学报:自然科学版,2013,5(1):1-19
|
被引
16
次
|
|
|
|
|
3.
Passenberg C. A survey of environment-,operator-, and task-adapted controllers for teleoperation systems.
Mechatronics,2010,20(7):787-801
|
被引
9
次
|
|
|
|
|
4.
Wang M. Interactive control for Internet-based mobilerobot teleoperation.
Robotics and Autonomous Systems,2005,52(2/3):160-179
|
被引
9
次
|
|
|
|
|
5.
Anderson R J. Bilateral control of teleoperatorswith time delay.
IEEE Transactions on Automatic Control,1989,34(5):494-501
|
被引
78
次
|
|
|
|
|
6.
Niemeyer G. Stable adaptive teleoperation.
IEEEJournal of Oceanic Engineering,1991,16(1):152-162
|
被引
61
次
|
|
|
|
|
7.
Li M F. A teleoperation system based onpredictive simulation and its application to spacecraft maintenance.
International Journal of Plant Engineering and Management,2008,13(1):1-9
|
被引
1
次
|
|
|
|
|
8.
Xi N. Action synchronization and control of Internetbased telerobotic systems.
IEEE International Conferenceon Robotics and Automation,1999:219-224
|
被引
8
次
|
|
|
|
|
9.
Xi N. Stability analysis of non-time referencedInternet-based telerobotic systems.
Robotics and Autonomous Systems,2000,32(2/3):173-178
|
被引
10
次
|
|
|
|
|
10.
Tan J D. Integrated task planning and controlfor mobile manipulators.
International Journal of RoboticsResearch,2003,22(5):337-354
|
被引
3
次
|
|
|
|
|
11.
Elhajj I. Haptic information in Internetbasedteleoperation.
IEEE/ASME Transactions on Mechatronics,2001,6(3):295-304
|
被引
5
次
|
|
|
|
|
12.
Yokokohji Y. Bilateral control of master-slave manipulatorsfor ideal kinesthetic coupling - Formulation and experiment.
IEEE Transactions on Robotics and Automation,1994,10(5):605-620
|
被引
17
次
|
|
|
|
|
13.
Lawrence D A. Stability and transparency in bilateral teleoperation.
IEEE Transactions on Robotics and Automation,1993,9(5):624-637
|
被引
48
次
|
|
|
|
|
14.
Luo R C. Development of a multibehavior-basedmobile robot for remote supervisory control through the Internet.
IEEE/ASME Transactions on Mechatronics,2000,5(4):376-385
|
被引
10
次
|
|
|
|
|
15.
Cheng G. Supervised autonomy: A frameworkfor human-robot systems development.
Autonomous Robots,2001,10(3):251-266
|
被引
2
次
|
|
|
|
|
16.
Rybski P E. Sharingcontrol.
IEEE Robotics and Automation Magazine,2002,9(4):41-48
|
被引
2
次
|
|
|
|
|
17.
李焱. 应用遥编程的大时延遥操作技术.
机器人,2001,23(5):391-396
|
被引
3
次
|
|
|
|
|
18.
Jiang Z N. A teleprogramming methodfor Internet-based teleoperation.
IEEE International Conferenceon Robotics and Biomimetics,2006:422-426
|
被引
1
次
|
|
|
|
|
19.
Guo C F. Fusion of human and machine intelligencefor telerobotic systems.
IEEE International Conferenceon Robotics and Automation,1995:3110-3115
|
被引
1
次
|
|
|
|
|
20.
Cabrera J L. On-off intermittency in a humanbalancing task.
Physical Review Letters,2002,89(15):158702/1-158702/4
|
被引
5
次
|
|
|
|
|
了解气象卫星更多信息，请访问