摘要
力觉临场感遥操作机器人系统是一个典型的人在回路(Human-in-Loop)的人机交互系统,操作者作为整个系统的一个重要单元是完成机器人控制的顶层控制环节.操作者需要接受力觉、触觉、视觉和运动信息反馈后,才能作出决策,远程操纵机器人执行任务,因此操作者是一个基于多输入单输出的复杂系统,而且具有非线性和时变性,需要建立一套相应的控制模型.文章通过分析操作者在力觉临场感遥操作系统中的感知、决策与动作的特性,建立了一种操作者的输入输出模型,并给出了模型的等效二端口网络形式,为力觉临场感遥操作机器人系统的分析提供了基础.
The force telepresence telerobot system is a typical human-robot-interaction system with human-in-loop. The human operator as an important unit for the whole teleoperation system is the top control component to perform task of the robot control. The human operator will make a decision and manipulate a telerobot to execute tasks after receives the force feedback, haptic feedback, visual feedback and movement informatio from the sensors installed on the robot. As the human operator is a complex system of multi-input-and-single-output with nonlinear and time var- ying properties, an appropriate control model needs to be built. This paper analyzes the human operators＇characters of perception, decision and movement, then propoeses a control model of human operator and gives an equivalent form of two-port networks,which provides a basis for the force telepresence telerobot system analyzing.
出处
《南京信息工程大学学报（自然科学版）》
CAS
2013年第2期97-105,共9页
Journal of Nanjing University of Information Science & Technology（Natural Science Edition）
基金
国家自然科学基金项目(61272379)
江苏省自然科学基金重点项目(BK2010063)
关键词
力觉临场感
遥操作机器人
操作者
感知
决策
控制
建模
force telepresence
teleoperation
human operator
perception
decision
control
modelling
