采用受控Petri网的虚拟现实遥操作机器人系统模型

Modelling of Virtual Reality Robot Teleoperation Based on Controlled Petri-Net

针对机器人遥操作系统分布式操作的特点,采用面向对象的虚拟现实建模方法构建系统的原型,使模型的复杂性不再与具体完成的任务有关.基于时序逻辑的推理规则,利用Petri网作为遥操作控制系统模拟与验证的工具,描述操作任务间的因果关系,并以共享控制模式为模型,描述遥操作控制系统的动态行为.最后,通过实验验证方法的合理性.

Considering of distributed characteristic of the robot teleoperation,virtual reality system prototype is built with object orientation programming method,which make complexity of model is indispensable with specific task.PetriNet is utilized to simulate and verify teleoperation control system.Causation among tasks is described based on timing sequence logical rule.Furthermore,shared teleoperation control model is adopted to analyze dynamic performance.Finally, a simple experiment shows the approach is applicable.