共查询到20条相似文献,搜索用时 511 毫秒
1.
2.
手控器是遥操作机器人的人机接口的关键设备之一,力/触觉反馈对遥操作机器人系统具有重要的意义,如何实现有效的力觉和触觉反馈是机器人手控器研制中的核心问题.本文对手控器结构进行分类,并对力/触觉反馈形式作一概括. 相似文献
3.
多自由度力反馈手控器是遥操作的重要人机接口设备,提出了一种七自由度力反馈手控器测控系统的设计方案,实现对手控器末端位置的测量和向手控器输出反馈力/力矩.详细介绍了该手控器的位置检测原理、力反馈控制原理和控制器的软硬件设计.在完成系统调试后对手控器系统进行了测试,测试结果表明:设计的手控器系统测量精度达到±0.5 mm,三维平动力反馈控制精度达到5% FS,满足多自由度力反馈遥操作的需求. 相似文献
4.
针对绳驱超冗余空间柔性机械臂的运动特点和在大范围工作空间快速运动、避障及狭小空间作业和触碰情况下精细操作等在轨遥操作任务需求,设计并研制了适应多种工况的基于手控器和虚拟现实(VR)手柄组合的遥操作人机交互系统。对狭小空间作业和避障等工况进行分析,提出了基于自由度动态组合和末端―臂形同步规划的遥操作方法。最后,完成了穿越卫星太阳帆板狭缝的典型实验,实验验证了遥操作系统的工程实用性,以及柔性机械臂遥操作运动规划方法的可行性。因此,配合使用多种人机交互方式组合的遥操作系统和相应的运动规划方法,可使操作者以更加直观自然的方式参与到遥操作系统中,有效提高操作员完成复杂遥操作任务的安全性和操作性能。 相似文献
5.
6.
遥操作机器人手机器的研究进展 总被引:2,自引:0,他引:2
手控器是摇操作机器人的机接口的关键设备之一,力/触觉反馈对摇操作机器人系统具有重要的意义,如何实现有效的力觉和触觉反馈是机器人手控制器研制中的核心问题,本文对手控器结构进行分析,并对力/触觉反馈形式作一概括。 相似文献
7.
基于DEA交叉评价的模糊综合评价模型及其应用 总被引:1,自引:0,他引:1
借鉴数据包络分析(DEA)交叉评价的思想,首先将评价系统内的指标分为量化指标和非量化指标,在定义平均交叉效率、最小交叉效率和最大交叉效率概念的基础上,采用交叉评价方法对量化数据进行处理;然后对最小交叉效率值、平均交叉效率值和最大交叉效率值进行模糊化,模糊化之后将其作为模糊综合评价的指标与非量化指标一起进行二次评价,以建立基于DEA交叉评价的模糊综合评价模型;最后通过评价实例验证了所提出的模型在处理客观数据与主观因素并存的多属性决策中的客观性和全面性. 相似文献
8.
传统的基于手控器单模态人机接口的移动机器人编队控制系统在进行队形变换和局部避障等复杂运动控制时效果较差。本文针对此问题提出了一种基于力反馈手控器和眼动仪双模态人机接口的编队共享控制方法。首先,将操作员的手部输入信号和视线跟踪信号分别映射为编队行进和队形切换命令。然后,设计一个由主端遥操作控制器和从端自主控制器组成的共享控制框架。主端遥操作控制器负责接收分发操作员的控制命令并接管编队行进运动控制和队形切换控制,从端自主控制器负责根据系统状态自主完成队形保持、外部避障和内部避碰等任务。最后,通过避障实验、队形切换实验和单双模态对比实验来证明该控制方法的有效性。实验结果表明,相对于传统的单模态双边遥操作控制,本文提出的控制方法降低了操作负荷,控制效率提升了17.42%。 相似文献
9.
10.
面向多机器人遥操作的分布式预测图形仿真系统 总被引:3,自引:0,他引:3
在遥操作机器人系统中,由于存在通信传输时延,可能导致控制系统不稳定,从而降
低遥操作的效率和安全性.目前多采用预测仿真的方法来克服.在多机器人遥操作系统不但
要克服时延的影响,还要能控制机器人协调地完成遥操作任务.我们开发了一个面向多操作
者 多机器人遥操作的分布式预测图形仿真系统,实现了对多机器人遥操作系统的预测仿真
,多个操作者可以通过人机交互接口遥控各自的机器人,相互协调完成遥操作的任务.初步
的实验表明该系统能够克服时延的影响,并能实现多操作者 多机器人的协调遥操作.这对
空间站机器人科学实验、多航行器对接等方面的研究有理论参考价值. 相似文献
11.
Manoeuvrability of a master-slave manipulator with different configurations and its evaluation tests
《Advanced Robotics》2013,27(2):185-202
_Recently, much research on master-slave manipulators with different configurations (MSM-DC) has been conducted, but the manoeuvrability between different structural arms has not been sufficiently discussed. Thus, an MSM-DC with six degrees of freedom (DOF) using an orthogonal-type master arm has been developed and its manoeuvrability has been studied with the aid of some basic experiments. The results were as follows: (1) the MSM-DC can be operated as easily as a conventional MSM that uses a replica master arm; (2) the slave arm position and the reflecting force of the master arm are correctly generated by coordinate transformation between the slave arm and the master ann; (3) the master-slave mode is suitable for performing a fine task, compared with the joystick mode; and (4) the function of changing the transformation point, which is newly proposed, from the master arm to the slave arm is effective in carrying out a task which has a revolving point. In addition, quantitative evaluation of the manoeuvrability of an MSM was investigated using a pattern trace. 相似文献
12.
主/子惯导标定中挠曲变形误差综合补偿方法 总被引:2,自引:0,他引:2
针对挠曲变形对主/子惯导在线标定误差方程多方面影响的问题, 提出一种挠曲变形误差综合补偿方法. 首先, 基于极大似然估计和赤池信息量准则(AIC) 定阶的自回归(AR) 模型对挠曲变形进行建模; 然后, 针对挠曲变形引起的动态杆臂效应问题, 利用机理建模方法建立动态杆臂与挠曲变形角之间的关系模型; 在此基础上, 推导出挠曲变形与动态杆臂误差综合补偿方法; 最后, 将该方法应用于主/子惯导标定滤波器设计. 仿真结果表明, 所提出的综合补偿方法是有效的.
相似文献13.
A generalized master/slave technique and experimental results for coordinated control of two arms rigidly grasping an object is described in this paper. Usually master/slave refers to the case when one arm is controlled in position mode while the second arm is controlled in force mode. In generalized master/slave control, each arm at its tool frame has six degrees of freedom; each degree of freedom can be in either position or force control mode. An interactive program has been developed to allow a user the flexibility to select appropriate control modes for a given experiment. This interface also allows for control gain adjustments. This paper presents the results of several experiments performed on this system to demonstrate its capabilities such as transporting an object with or without induced internal forces and movement of a constrained object. The system is further developed to achieve a so-called shared control mode in which an operator species the free motion trajectory for a point on the object of manipulation via a joystick while the autonomous control system is used for coordination and control of the arms. 相似文献
14.
15.
The Center for Engineering Design at the University of Utah, in collaboration with Sarcos Research Corporation and others, recently developed the Dextrous Teleoperation System (DTS). The DTS is a master/slave 10 degree of freedom (dof) arm that includes a 3 dof dextrous end effector. The system has demonstrated a number of significant remote manipulation capabilities. This article discusses design considerations, features, and capabilities of the slave Dextrous Arm. An earlier article discussed potential applications, general features, and system capabilities of the DTS. Subsequent articles will discuss the master and control systems. 相似文献
16.
针对空间中自由漂浮多臂航天器的多臂协同问题,提出一种基于一致性理论的协同控制方法,采用有向通信拓扑与广义雅克比矩阵结合的方式,实现自由漂浮航天器多机械臂间的协同.首先,建立多机械臂间的通信关系有向图,确定“领导-跟随”体系下的主臂与从臂;其次,基于有向通信拓扑,进行主从臂末端运动规划,实现主臂运动向从臂的传递;再次,利用广义雅克比矩阵在动量守恒条件下进行末端运动向关节运动的映射,并基于一致性理论设计关节空间内的多臂协同运动控制器;最后,基于李雅普诺夫稳定性理论证明控制器的稳定性,并分析位置控制误差.仿真结果表明,所提出的控制方法可以实现多臂航天器系统空间操控任务中各机械臂的聚集、跟踪与位置协同. 相似文献
17.
Tadakuma R Asahara Y Kajimoto H Kawakami N Tachi S 《IEEE transactions on visualization and computer graphics》2005,11(6):626-636
We developed a robotic arm for a master-slave system to support "mutual telexistence", which realizes remote dexterous manipulation tasks and close physical communication with other people using gestures. In this paper, we describe the specifications of the experimental setup of the master-slave arm to demonstrate the feasibility of the mutual telexistence concept. We developed the master arm of a telexistence robot for interpersonal communication. The last degree of the 7-degree-of-freedom slave arm is resolved by placing a small orientation sensor on the operator's arm. This master arm is made light and impedance control is applied in order to grant the operator as much freedom of movement as possible. For this development stage, we compared three control methods and confirmed that the impedance control method is the most appropriate to this system. 相似文献
18.
《Expert systems with applications》2014,41(2):655-662
Data mining is most commonly used in attempts to induce association rules from transaction data. In the past, we used the fuzzy and GA concepts to discover both useful fuzzy association rules and suitable membership functions from quantitative values. The evaluation for fitness values was, however, quite time-consuming. Due to dramatic increases in available computing power and concomitant decreases in computing costs over the last decade, learning or mining by applying parallel processing techniques has become a feasible way to overcome the slow-learning problem. In this paper, we thus propose a parallel genetic-fuzzy mining algorithm based on the master–slave architecture to extract both association rules and membership functions from quantitative transactions. The master processor uses a single population as a simple genetic algorithm does, and distributes the tasks of fitness evaluation to slave processors. The evolutionary processes, such as crossover, mutation and production are performed by the master processor. It is very natural and efficient to run the proposed algorithm on the master–slave architecture. The time complexities for both sequential and parallel genetic-fuzzy mining algorithms have also been analyzed, with results showing the good effect of the proposed one. When the number of generations is large, the speed-up can be nearly linear. The experimental results also show this point. Applying the master–slave parallel architecture to speed up the genetic-fuzzy data mining algorithm is thus a feasible way to overcome the low-speed fitness evaluation problem of the original algorithm. 相似文献
19.
分布式ICE中间件是一款高效的RPC框架,它支持跨语言开发,其中的IceGrid服务是整个框架的核心,主要的作用是给客户端提供位置管理,远程管理,负载均衡和服务注册等服务.在ICE构建的分布式平台中,一旦IceGrid服务出现问题,整个网络通信就会出现问题.IceGrid本身支持主从模式的高可用,但是当主节点不可用时,从节点不会自动升级为主节点,必须在从节点进行手动配置重启,这严重影响了IceGrid的效率.Zookeeper是开放源码的分布式应用程序协调服务,它是一个为分布式应用提供一致性服务的软件,本文提出一种基于Zookeeper的IceGrid服务的高可用改进模型,当主节点不可访问时,由Zookeeper在从节点中进行选举协调,选中的从节点自动升级为主节点. 相似文献
20.
《Advanced Robotics》2013,27(3):253-273
A unified hand/arm master–slave system was developed to conduct dexterous tasks by teleoperation. Both the master and the slave consist of a two-fingered hand and a 3-d.o.f. planer manipulator. The system is also aimed at investigating the bottleneck of autonomous robotic manipulation systems. To evaluate the performance of individual teleoperation systems all over the world under equal conditions, we propose toy block assembling (LEGO® blocks) as the benchmark test for teleoperation systems. Using our hand/arm master-slave system, we announce the measured completion time for assembling some block structures, expecting other research group to try the same task in the future. 相似文献