基于视觉反馈和预测仿真的Internet机器人遥操作

随着网络技术的发展,基于Internet的机器人遥操作因其广泛的应用前景而成为研究的热点,如何消除Internet引入的复杂时延对控制系统的影响是解决问题的关键.该文在分析Internet两点间时延规律的基础上,设计并实现了一个基于视觉反馈和预测仿真的机器人遥操作系统(Telemanipulator,Tman),三维仿真服务器模拟出操作现场,远程用户根据视觉反馈和本机的三维仿真及时做出控制决策;同时,为了消除时延可能导致的超调所带来的安全隐患,采取远程控制结合本地自主控制的模式,由本地服务器完成最后的小区域内的精细操作.实验结果表明仿真预测和控制模式切换有效地补偿了时延,保证了控制系统的鲁棒性和安全性.

Internet-based telerobotic system with visual feedback and predictive display

In recent years,following the development of network technology,Internet-based telerobotics is becoming hot research because of wide range of applications.Among all the relative topics,Internet-induced delay is the focus of research,which impacts greatly on control performance.A Internet-based telerobotics(Telemanipulator,Tman) with visual feedback is introduced.In order to compensate for the Internet-induced delay,a 3D simulation server is deployed at the remote site,which can simulate the real environ-ment of the local site;the remote operator can remotely manipulate the local robot with the help of predictive display and visual feedback.Meanwhile,a switch mechanism of control model is introduced into Tman to guarantee the security of the robot,which may become a problem caused by the overshoot of teleoperation.When the remote operator drives the robot into the threshold range,the remote control channel is shut off,and the local server takes charge of the final manipulation.The experimental results show that both the measures compensate for the Internet-induced delay effectively,which guarantees the Robustness and security of the telerobotics system.