| 基于网络的多操作者多机器人协作研究 |
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| 引用本文： | 胡亏又,陈一民. 基于网络的多操作者多机器人协作研究[J]. 计算机应用与软件, 2008, 25(9) |
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| 作者姓名： | 胡亏又 陈一民 |
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| 作者单位： | 上海大学计算机工程与科学学院,上海,200072;上海大学计算机工程与科学学院,上海,200072 |
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| 摘 要： | 研究基于网络的多操作者多机器人的协作方案,分别提出了针对机器人约束和非约束体协作条件下的协调策略,并在局域网内建立一个仿真实验系统对机器人协作进行仿真.在约束情况下以机器人协同搬运为研究点,提出采用"主、从"机器人控制方法,确定工件运动轨迹后采用位置反解算法确定机器人运动.在非约束情况下提出采用"时间戳"、"回滚"方法协调操作.在整个仿真系统中采用基于AABB的碰撞检测算法确保机器人操作的安全性.仿真实验的结果验证了协调策略的可行性和正确性.
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| 关 键 词： | 多操作者 多机器人 协作 虚拟现实 |
ON NETWORK BASED COLLABORATION FOR MULTI-OPERATOR AND MULTI-ROBOT |
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| Hu Kuiyou,Chen Yimin. ON NETWORK BASED COLLABORATION FOR MULTI-OPERATOR AND MULTI-ROBOT[J]. Computer Applications and Software, 2008, 25(9) |
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| Authors: | Hu Kuiyou Chen Yimin |
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| Affiliation: | Hu Kuiyou Chen Yimin(School of Computer Engineering , Science,Shanghai University,Shanghai 200072,China) |
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| Abstract: | The paper reports a research on network based multi-operator multi-robot collaboration,and the coordinated strategy to solve the constrained and unconstrained collaboration of the robots are proposed respectively as well.An experiment system which implements the proposed coordinated strategy is established in LAN to emulate the collaboration of robots.Under the constrained condition,robots cooperative conveying is studied by adopting the method of master-slave robot control,after the movement trace of work ... |
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| Keywords: | Multi-operator Multi-robot Collaboration Virtual reality software |
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