| 基于虚拟环境的多操作者多机器人协作遥操作系统 |
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| 引用本文： | 马良,闫继宏,赵杰,陈志峰.基于虚拟环境的多操作者多机器人协作遥操作系统[J].机器人,2011,33(2):169-173. |
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| 作者姓名： | 马良 闫继宏 赵杰 陈志峰 |
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| 作者单位： | 哈尔滨工业大学机器人技术及系统国家重点实验室,黑龙江,哈尔滨,150080 |
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| 基金项目： | 国家863计划资助项目，国家重点实验室基金资助项目，中央高校基本科研业务费专项资金资助项目 |
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| 摘 要： | 建立了基于虚拟环境的多操作者多机器人协作遥操作系统,采用3层C/S结构的控制系统软件构架.根据实验系统平台工作场景对分布式虚拟环境进行建模,以实现多操作者对多机器人的分布式控制.结合多操作者多机器人遥操作系统的结构特点,采用本地滞后原理对分布式虚拟环境的一致性控制进行了研究,解决了遥操作系统一致性控制中时钟同步、滞后时...
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| 关 键 词： | 虚拟环境 遥操作 一致性控制 |
Virtual Environment-Based Multi-Operator Multi-Robot Cooperative Teleoperation System |
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| MA Liang,YAN Jihong,ZHAO Jie,CHEN Zhifeng.Virtual Environment-Based Multi-Operator Multi-Robot Cooperative Teleoperation System[J].Robot,2011,33(2):169-173. |
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| Authors: | MA Liang YAN Jihong ZHAO Jie CHEN Zhifeng |
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| Affiliation: | MA Liang,YAN Jihong,ZHAO Jie,CHEN Zhifeng (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China) |
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| Abstract: | A virtual environment-based multi-operator multi-robot cooperative teleoperation system is proposed,and the software framework of control system with three layered C/S(client/server) structure is adopted.The model of distributed virtual environment is built according to work scene of the experimental platform for accomplishing distributed control of multiple robots by multiple operators.Based on the structure of multi-operator multi-robot teleoperation system,a method based on local lag is presented to real... |
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| Keywords: | virtual environment teleoperation consistency control |
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