[1]张颖,宋光明,孙慧玉,等.多移动机器人双边遥操作系统中反馈力信息设计与研究[J].东南大学学报(自然科学版),2017,47(1):50-55.[doi:10.3969/j.issn.1001-0505.2017.01.010]
 Zhang Ying,Song Guangming,Sun Huiyu,et al.Design and research on feedback force in bilateral teleoperation system for multiple mobile robots[J].Journal of Southeast University (Natural Science Edition),2017,47(1):50-55.[doi:10.3969/j.issn.1001-0505.2017.01.010]
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多移动机器人双边遥操作系统中反馈力信息设计与研究()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
47
期数:
2017年第1期
页码:
50-55
栏目:
自动化
出版日期:
2017-01-18

文章信息/Info

Title:
Design and research on feedback force in bilateral teleoperation system for multiple mobile robots
作者:
张颖宋光明孙慧玉韦中宋爱国
东南大学仪器科学与工程学院, 南京 210096
Author(s):
Zhang Ying Song Guangming Sun Huiyu Wei Zhong Song Aiguo
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
关键词:
双边遥操作 多机器人 反馈力 编队
Keywords:
bilateral teleoperation multi-robot system feedback force formation
分类号:
TP242.6
DOI:
10.3969/j.issn.1001-0505.2017.01.010
摘要:
为了研究在多移动机器人双边遥操作系统中反馈力对机器人运动性能的影响,设计了一种一对多的遥操作系统半物理仿真平台.同时基于主从端之间速度偏差与障碍物排斥力设计了2种不同的反馈力.在该双边遥操作系统中,主端操作员通过力反馈人机交互设备控制从端多机器人系统的平均速度,从端机器人系统能够响应主端操作员的命令,同时操作员可以借助反馈力感知从端多机器人系统的运动状态.半物理实验结果表明,相比于没有力反馈信息的遥操作系统,多机器人系统的运动性能得到了提高;相比基于障碍物排斥力设计的反馈力,基于主从端速度不匹配设计的反馈力,更有利于从端的多机器人系统避障、跟踪参考轨迹以及主端给出的参考速度.
Abstract:
In a bilateral teleoperation system for multiple mobile robots, to study the influences of different feedback forces on the motion performances of the mobile robots, a single-to-multiple semi-physical simulation platform was designed. Moreover, two kinds of feedback forces were designed for the operator, i.e., force based on the mismatch between the desired and actual velocities, and the repulsive force from the obstacles. In the bilateral teleoperation system, the average velocities of the multi-robot system on the slave side were controlled by the human operator through the force feedback device on the master side. The multi-robot system on the slave side could respond the commands from the master side, and the operator could feel the motion state of the multiple mobile robot system through the force feedback device. The semi-physical experimental results show that the systems with force feedback have better performance than that without force feedback. Compared with the feedback force based on the repulsive force from the obstacles, the other feedback force is more conducive to make the multi-robot system avoid obstacles, and track the reference trajectories and the reference velocities from the master side.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2016-07-26.
作者简介: 张颖(1987—),女,博士生;宋光明(联系人),男,博士, 教授, 博士生导师, mikesong@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(61375076)、东南大学优秀博士学位论文基金资助项目(YBJJ1423)、江苏省普通高校研究生科研创新计划资助项目(KYLX_0108).
引用本文: 张颖,宋光明,孙慧玉,等.多移动机器人双边遥操作系统中反馈力信息设计与研究[J].东南大学学报(自然科学版),2017,47(1):50-55. DOI:10.3969/j.issn.1001-0505.2017.01.010.
更新日期/Last Update: 2017-01-20