基于Internet的拟人双臂机器人遥操作系统的研究

Research on Internet-based dual-arm robotic teleoperation system

为了解决多操作者．多机器人遥操作系统所存在的问题，减小网络时延对遥操作性能的影响，提出了一种基于Internet的“单机．单操作者．多人机交互设备．多机器人”的遥操作体系结构，并讨论了系统的各部分功能和基于虚拟斥力场的协调控制策略。根据作业空间和任务不同，提出了相应的分区控制方式，提高了工作效率。最后，进行了拟人冗余度双臂协调装配实验研究，验证了方法和系统的可行性。

To sove the communicating and coordinating problems of ＂Multioperators＂-＂Mutirobots＂ remote control system, and reduce the influence from the Internet time delay on teleoperation, a new strategy of ＂Single Workstation＂-＂ Single Operator＂-＂Multirobots＂ teleoperation system via Intemet was proposed. Then, the functions of sub-systems and the strategies of coordination based on virtual repulsive force field were discussed. Based on the task, in terms of the detail conditons at different sections of work space, the ways of control were adopted appropriately to improve the working effifency. At last, the experiment was conducted by collaborating of dual redundant manipulator/hand system to screw the bolt. The validity of the new teleoperation system and the control strategies is verifed by the experimental testing results.