摘要
给出了一种遥操作系统实现方案。在所建立的遥操作系统上实现了具有双向力反应的主从装配操作和基于环境模型的自主搭积木操作。研究了大时延条件下的仿真预测遥操作方法和局部自主控制方法、从动机器人由自由运动到受限运动的稳定过渡问题和机器人任务规划及路径规划问题。
An approach of teleoperation system is proposed. On the established system, the task of pin-in-hole is completed by means of bilateral force reflective master-slave teleoperation, and the block building is done autonomously. Under the condition of long time delay, control method with the aid of simulation preview and local autonomy is studied. Problems of state transition from free motion to restricted motion, robot task planning and path generation are discussed.
出处
《高技术通讯》
EI
CAS
CSCD
1997年第1期27-30,共4页
Chinese High Technology Letters
基金
国防科工委预研项目
关键词
机器人
遥操作
控制系统
Robot
Teleoperation
Fore reflection
Time delay
Planning
