摘要
近年来基于 Internet多操作者多机器人 MOMR(Multi- Operator- Multi- Robot)协作成为许多学者关注的对象 .相对于单操作者单机器人 SOSR(Single- Operator- Single- Robot)遥操作任务的单一性和局限性 ,MOMR在群体作业如 :设备维护、建筑建造、外科手术等许多场合具有明显的优势 .对于危险或难以到达的环境 ,MOMR遥操作系统的控制成为一个主要问题 .本文综述了基于 Internet的 MOMR系统的结构、概念以及国内外的研究现状 ,并讨论了 MOMR系统存在的主要问题和各种协调 (或协作 )控制方法 .
Recently some noticeable efforts have been devoted to the internet based MOMR(multi operator multi robot) collaboration. MOMR teleoperation would have a significant advantages over SOSR(snigle operator single robot) in group work such as the plant maintenance, construction, and surgery. Control of MOMR teleoperation system plays an important role in remote operations in dangerous or difficult to access environment. This paper describes architecture and conception of internet based MOMR teleoperation system and overviews the present situation, and its main problems and various coordinated schemes are also discussed.
出处
《机器人》
EI
CSCD
北大核心
2002年第5期459-463,共5页
Robot
