摘要
提出一种面向遥操作的多指手Mu lti-agent模型逻辑结构,采用Java语言设计了用户Agent、管理Agent和手指Agent模型以及Mu lti-agent之间的通讯模块.使用Java3D与VRML建立多指手三维虚拟模型,开发了网络遥操作仿真平台.最后,在该平台上实现了多指手遥操作的虚拟再现,验证了多指手Mu lti-agent模型的可行性.
A teleoperation-ofiented multi-agent logic structure for multlfingered hands is given. User Agent, management Agent, finger Agent end communication between the Agents are designed using Java language. Then, a 3D virtual model for a multifingered hand is built with Java3D & VRML. A simulation platform for the network-based teleoperation is developed. Finally, virtual reproduction of the teleoperation for the multifingered hand is realized using the multi-agent structure. The feasibility of the multi-agent model for teleoperatien is proved by simulation experiments.
出处
《机器人》
EI
CSCD
北大核心
2006年第2期115-119,143,共6页
Robot
基金
江苏省应用基础研究计划资助项目(BJ98057)