[1]朱清峰,宋爱国,黄惟一.受控Petri Net在遥控机器人作业规划中的应用研究[J].东南大学学报(自然科学版),1999,29(2):12-17.[doi:10.3969/j.issn.1001-0505.1999.02.003]
 Zhu Qingfeng,Song Aiguo,Huang Weiyi.Controlled Petri Net Model Based Research in Telerobotic Task Planning[J].Journal of Southeast University (Natural Science Edition),1999,29(2):12-17.[doi:10.3969/j.issn.1001-0505.1999.02.003]
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受控Petri Net在遥控机器人作业规划中的应用研究()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
29
期数:
1999年第2期
页码:
12-17
栏目:
自动化
出版日期:
1999-03-20

文章信息/Info

Title:
Controlled Petri Net Model Based Research in Telerobotic Task Planning
作者:
朱清峰 宋爱国 黄惟一
东南大学仪器科学与工程系, 南京 210096
Author(s):
Zhu Qingfeng Song Aiguo Huang Weiyi
Department of Instrument Science and Engineering,Southeast University,Nanjing 210096
关键词:
遥控机器人 作业规划 受控Petri Net
Keywords:
telerobot task planning controlled Petri Net
分类号:
TP242.1;TP273
DOI:
10.3969/j.issn.1001-0505.1999.02.003
摘要:
在交互工作方式下的遥控机器人在太空开发和深海勘探等领域具有重要的实用价值,而如何增强其自主作业能力是一个重要的问题. 本文采用受控Petri Net理论建立了遥控机器人的作业规划模型,并针对作业环境的时变和不确定性引起的二次规划问题提出了解决方法.
Abstract:
It’s of great values to study the telerobotic systems which work in the space or in the ocean, and it’s an important problem to improve their auto-control operation capability. The controlled Petri Net theory is adopted to study this problem in the paper, and a scheme is presented to solve the second design problem caused by the time-varying & uncertain environment.

参考文献/References:

[1] 袁崇义.佩特里网.南京:东南大学出版社,1990
[2] Holloway L E,Krogh B H.Synthesis of feedback control logic for a class of controlled Petri Nets.IEEE Transactions on Automatic Control,1990,35(5):514~523
[3] Cho Y J,Tanie K,Akella P,et al.Command sequence replanning using discrete-even-based task model in tele-robotic part mating.IEEE International Conference on Robotics and Automation.Piscataway:The IEEE Robotics and Automation Society,1995.647~653
[4] Cho Y J,Kotoku T,Tanie K.Discrete-event-based planning and control of telerobotic part-mating process with communication delay and geometric uncertainty.In:Kavanaugh Mary E,eds.IEEE International Conference on Intelligent Robots and Systems.Los Alamitos:IEEE Computer Society Press,1995.1~6

备注/Memo

备注/Memo:
基金项目:国家高技术航天领域863—2基金—7资助项目.
第一作者:男,1973年生,博士研究生.
更新日期/Last Update: 1999-03-20