载人六足机器人人机功能分配及操纵系统设计

The Manned Hexapod Robot's Man-machine Function Allocation and the Design of the Control System

针对机器人自主控制的现有成果还不能完全适应其恶劣环境的全面要求的问题,开发一套操控功能齐全、实时性以及稳定性良好的人工操控系统便成为现阶段机器人平稳安全完成任务的必要前提。在前期已开发出的六足机器人操纵硬件系统的基础上,提出了一种融合了情景意识原则和人机功能分配原则的操纵模式,建立了多目标模糊决策模型并计算得出最佳的分配方案,最后以贝加莱控制器为核心控制器,设计出一套六足机器人操纵系统,实现了对机器人状态监控的实时性及运动操控的精准性的同时,验证了所提出人机功能分配算法与系统操纵性的良好融合性,为今后设计载人六足机器人的操纵系统提供参考依据。

Due to its unique value the existing achievements of robot autonomous control cannot fully meet therequirements of harsh environment. Artificial control system which has full range of operational functions, real-timeand good stability, will become the prerequisite for the task being smoothly and safely completed by the robots atthe present stage. Based on the preliminary foundation about hardware system of the manned hexapod robot, thepaper presents a control mode which is integrated with the principles of situational awareness and man-machinefunction allocation. Optimal allocation schemes through establishing a multi-objective fuzzy decision model isobtained. Finally a hexapod robot control system whose the core controller is B＆R controllers is designed andachieve the real-time condition monitoring of robotic and the accuracy of motion control, at the same time theintegration of the proposed human-machine function allocation algorithm and good maneuverability of the system isalso verified. We provide manned hexapod robot control system as the reference in the future.