基于混杂动态系统的机器人网络遥操作控制  

Control of Internet-Based Teleoperations for Robot via Hybrid Dynamic System

作　　者：游林儒[1] 王清阳[1] 

机构地区：[1]华南理工大学自动化科学与工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2006年第1期73-76,共4页Journal of South China University of Technology(Natural Science Edition)

基　　金：广东省博士启动基金资助项目(5300181)

摘　　要：机器人网络遥操作中的信息传递具有不确定时延特性,使得操作者无法及时、准确地了解现场信息,从而无法就机器人当时所处状态给予有效的控制.针对这种情况,文中从混杂动态系统的角度出发,采用监督控制方法对整个机器人网络遥操作系统进行建模和控制.通过在远端(机器人端)建立监控器来解决不确定时延所造成的问题,实验结果证明了该方法的有效性.During the teleoperation of a robot via lnternet, an operator cannot correctly and duly obtain real-time data due to the uncertain time delay in the Internet-based communication. So the state of a robot cannot be effectively controlled. To get out of the trouble, this paper is oncentrated on the modeling and control of Internet-based teleoperation system of robot by using the hybrid dynamic system approach, and proposes a supervisory control method, which solves the problem of uncertain time delay by setting a supervisory controller on the robot. The validity of this method is verified by experimental results.

关 键 词：机器人 网络遥操作 混杂动态系统 监控器 网络控制系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]