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提出了一种面向Internet的遥操作空间机器人共享控制体系模型,阐述了基于远端监控遥操作和近端智能自主控制相融合的遥操作控制结构,完成了在时延情况下从Internet上操作拥有15个自由度的智能机器人臂手集成系统。该系统采用基于国际互连网的主从控制结构,在多媒体交互和预测显示仿真技术的辅助下,实现了用户在广域网上控制实验室的机器人完成抓杯倒水等动作。
This paper presents a Internet-oriented telecontrol robot shared control system model for telecontrol, describes the teleoperation control structure based on remote monitoring teleoperation and near-end intelligent autonomic control, completes the operation of 15 degrees of freedom intelligent robotic arm hand integrated system. The system uses the master-slave control structure based on the Internet, with the help of the multimedia interaction and the prediction simulation technology, realizes that the robot controlling the laboratory in the wide area network can accomplish the action of grasping the cup.