Tele-LightSaber——一种高对抗度竞争型网络机器人系统

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．

Tele-LightSaber-A Kind of Competitive Networked Robots with High Degree of Opposition

The interaction and the real-time performance are the two key influencing factors for the performance of com-petitive 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 tele-operation 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.