| 基于网络的空间机器人遥操作体系结构 |
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| 引用本文： | 游松,王田苗,朱广超,丑武胜,张启先.基于网络的空间机器人遥操作体系结构[J].高技术通讯,2000,10(1):71-75. |
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| 作者姓名： | 游松 王田苗 朱广超 丑武胜 张启先 |
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| 作者单位： | 北京航空航天大学机器人研究所,北京,100083 |
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| 基金项目： | 86 3计划资助项目!( 86 3 2 4 1 1) |
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| 摘 要： | 提出了一种面向Ｉｎｔｅｒｎｅｔ的遥操作空间机器人共享控制体系模型，阐述了基于远端监控遥操作和近端智能自主控制相融合的遥操作控制结构，完成了时延情况下从Ｉｎｔｅｒｎｅｔ上操作拥有１５个自由度的智能机器人臂手集成系统。该系统采用基于国际互连网的主从控制结构，在多媒体交互和预测显示仿真技术的辅助下，实现了用户在广域网上控制实验室的机器人完成抓杯倒水等动作。
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| 关 键 词： | Internet 空间机器人 遥操作控制 |
Teleoperated Architecture of Spatial Robotic via Network |
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| You Song,Wang Tianmiao,Zhu Guangchao,Chou Wusheng,Zhang Qixian.Teleoperated Architecture of Spatial Robotic via Network[J].High Technology Letters,2000,10(1):71-75. |
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| Authors: | You Song Wang Tianmiao Zhu Guangchao Chou Wusheng Zhang Qixian |
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| Abstract: | A share control architecture mode for teleoperated spatial robot via Internet is proposed, and the harmonious mode between remote monitor teleoperate and local autonomous control are demonstrated. Under the guidance of multimedia information and predictiveg simulation, Internet clients anywhere can monitor robotic workspace, talk with technician and control the Arm/Hand integrated system with 15 DOF located in the lab to perform tasks. This system has been successfully tested and applied in remote robotic multimedia teaching systems via Internet. |
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| Keywords: | Teleoperation Share control Data fusion Internet |
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