竞争型机器人仿真系统设计与实现  

Design and Implementation of Simulation System for the Competitive Robot System

作　　者：于凯妍[1] 刘景泰[1] 卢翔[1] 李海丰[1] 李岩[1] 孙雷[1] 

机构地区：[1]南开大学机器人与信息自动化研究所,天津300071

出　　处：《机器人》2011年第6期649-657,共9页Robot

基　　金：国家自然科学基金资助项目(60905061);天津市科技计划资助项目(08JCYBJC12700)

摘　　要：为满足竞争型机器人系统Tele-LightSaber(TLS)对竞争博弈算法和相关的视觉伺服控制策略快速验证的要求,本文结合遥击剑TLS实验平台及其作业特点,设计并实现了基于"人机智能和谐分配"的竞争型机器人仿真系统.通过系统配置及离线编程,对实验数据再现并进行误差分析,表明本仿真系统能够较好地模拟实际系统,为TLS系统实验提供了前期的验证平台.In order to fulfill the requirements for rapid evaluating of competitive robot（Tele-LightSaber,TLS） system＇s competitive algorithms and visual servo control,a simulation system for the competitive robot system is designed and implemented based on TLS experimental platform and its operating characteristics,as well as the concept of ＂harmonious distribution of human-computer intelligence＂.Through system configuration and off-line programming,the simulation system reproduces experimental data and performs error analysis.The results show that the competitive robot simulation system can simulate the actual system,and provide a pre-experimental verification platform for TLS system.

关 键 词：竞争型机器人系统 MATLAB仿真 视觉伺服 离线编程 误差分析 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]