摘要
竞争型网络机器人系统具有交互性强、对实时性要求高等特点.为了研究适用于强交互竞争型网络机器人系统的控制模式和控制方法,本文设计并实现了一种高对抗度的竞争型网络机器人作业Tele-LightSaber,并在此基础上提出了将上层人工遥操作与底层视觉伺服相结合的控制模式.最后,分别利用本文提出的控制模式与传统人工遥操作模式对Tele-LightSaber作业进行控制,实验结果表明,本文提出的控制模式具有更强的实时性以及更小的跟踪误差.
The interaction and the real-time performance are the two key influencing factors for the performance of competitive networked robot system. Faced on these factors, a typical task of competitive networked robot system with high degree of opposition, named Tele-LightSaber （TLS）, is developed to seek an applicable control scheme to the competitive networked robots. A hierarchical control strategy which is divided into two levels such as upper controller with human teleoperation and bottom controller with visual servo is presented. Finally, experiments on TLS are carried out respectively by the proposed approach and the traditional tele-operation methods, and experimental results show that the former has great advantages in real-time performance and tracking errors.
出处
《机器人》
EI
CSCD
北大核心
2009年第6期505-512,共8页
Robot
基金
国家自然科学基金资助项目(60575048)
天津市自然科学基金资助项目(07JCYBJC05500)
天津市科技计划资助项目(08JCYBJC12700)
关键词
竞争型网络机器人
强交互
智能分配
视觉伺服
competitive networked robot
strong interaction
intelligence distribution
visual servo
