基于手眼协调机器人的共享控制遥操作系统  

Shared control teleoperation system based on robotic Hand-Eye coordination

作　　者：李明富[1] 李世其[1] 赵迪[1] 朱文革[1] 

机构地区：[1]华中科技大学机械学院,武汉430074

出　　处：《机械设计与制造》2009年第3期165-167,共3页Machinery Design & Manufacture

基　　金：国防科技工业民用航天预研项目([2004]1530);CAST创新基金项目(CAST200626)

摘　　要：提出了一种基于机器人手眼协调的共享控制遥操作系统框架。基于双目视差和主动轮廓构建机器人自主手眼协调系统,并将这种手眼协调机器人作为遥机器人构成一个半自主、共享式的遥操作系统。为了将人和机器人的各自的长处充分的融合到系统中,开发了相应的自然图像用户界面和遥自主命令程序模块用于人和自主机器人之间的交互。实验表明提出的这种基于手眼协调的共享控制遥操作系统具有高操作效率和对操作者友好等优点。Framework of shared control teleoperation system based on robotic hand-eye coordination is proposed. The autonomous hand-eye coordination system is constructed based on binocular disparity and active contour,and the hand-eye coordination robot is applied in the teleoperation system to construct a semi-autonomous and shared control teleoperation system. Relative natural image user interface and teleautonomy command programming module are developed for human interaction with autonomous robot,so as to combine merits of human and robot into the system. The experiments show that the shared control teleoperation system based on hand-eye coordination proposed is with merits of high operating efficiency and friendly for human operator.

关 键 词：手眼协调 共享控制遥操作 主动轮廓 人-机器人界面 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]