复杂大时延的多主多从共享遥操作方法
Cooperative teleoperation for multi-master/multi-slave systems with large time-varying delays
查看参考文献32篇
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文摘
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共享遥操作结合了遥操作和多机器人协调技术,是重要的空间机器人复杂任务拓展和遥操作可靠性提升方式。首先,在综述现有共享遥操作技术的基础上,利用遥操作系统的超前预报特性,提出机器人复杂大时延的共享遥操作方法,给出了多操作员多机器人(MM/MS)复杂操作系统描述模型,设计了分时树状分组策略并给出其使用的前提条件。提出了MM/MS组间共享遥操作方法、时延信息维护规则、操作请求判断和状态信息维护方法。然后,给出了相应组内共享遥操作算法。最后,以多操作员单机器人(MM/SS)共享遥操作为例,给出了简化规则,使用以某大型空间机械臂为对象的MM/SS遥操作系统进行了数字仿真实验。实验结果表明:本文方法在20s级不确定时延、操作端的交互时延与遥操作回路时延比为0~1等复杂条件下,均可实施连续稳定的遥操作。 |
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其他语种文摘
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Combining teleoperation and multi-robot coordination,cooperative teleoperation is an important means to expand complex space robot tasks and improve reliability for space robot teleoperation.Based on a review of cooperative teleoperation technology,this paper first proposes the cooperative teleoperation method for robots with large time-varying delays,drawing on the advanced prediction characteristics of teleoperation systems.A description model of complex Multi-Master/ Multi-Slave(MM/MS)teleoperation systems is provided,together with a tree-like timesharing grouping strategy of all operators and objects with its five prerequisites presented.The cooperative teleoperation method among groups for MM/MS systems,the maintenance rules for time delays,the maintenance method for operation request judgment and operation state,and further,the corresponding cooperative teleoperation algorithm within groups for MM/MS systems are proposed respectively.Simplified rules are provided for the representative Multi-Master/Single-Slave(MM/SS)systems,and digital simulation experiments carried out based on the MM/SS teleoperation systems for ground tests of a large space manipulator.Results show that under the 20slevel large time-varying delay,continuous and stable teleoperation can be achieved when the ratio of interaction delay among operators to the teleoperation loop delay is from 0to 1. |
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来源
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航空学报
,2021,42(1):523896 【核心库】
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DOI
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10.7527/S1000-6893.2020.23896
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关键词
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空间机器人
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不确定大时延
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多操作员多机器人(MM/MS)
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共享遥操作
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分时树状分组
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地址
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中国科学院力学研究所, 北京, 100190
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中国科学院大学工程科学学院, 北京, 100049
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语种
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中文 |
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文献类型
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研究性论文 |
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ISSN
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1000-6893 |
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学科
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航天(宇宙航行) |
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基金
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中国科学院战略性先导科技专项
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国家973计划
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国家自然科学基金
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载人航天领域预先研究项目
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文献收藏号
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CSCD:6923619
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