[1]张国亮,钟必能.采用受控Petri网的虚拟现实遥操作机器人系统模型[J].华侨大学学报(自然科学版),2014,35(2):161-164.[doi:10.11830/ISSN.1000-5013.2014.02.0161]
 ZHANG Guo-liang,ZHONG Bi-neng.Modelling of Virtual Reality Robot Teleoperation Based on Controlled Petri-Net[J].Journal of Huaqiao University(Natural Science),2014,35(2):161-164.[doi:10.11830/ISSN.1000-5013.2014.02.0161]
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采用受控Petri网的虚拟现实遥操作机器人系统模型()
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《华侨大学学报(自然科学版)》[ISSN:1000-5013/CN:35-1079/N]

卷:
第35卷
期数:
2014年第2期
页码:
161-164
栏目:
出版日期:
2014-03-20

文章信息/Info

Title:
Modelling of Virtual Reality Robot Teleoperation Based on Controlled Petri-Net
文章编号:
1000-5013(2014)02-0161-04
作者:
张国亮 钟必能
华侨大学 计算机科学与技术学院, 福建 厦门 361021
Author(s):
ZHANG Guo-liang ZHONG Bi-neng
College of Computer Science and Technology, Huaqiao University, Xiamen 361021, China
关键词:
机器人 遥操作 受控Petri网 虚拟现实 虚拟可操作对象
Keywords:
robot teleoperation controlled petri net virtual reality virtual operation object
分类号:
TP242.6
DOI:
10.11830/ISSN.1000-5013.2014.02.0161
文献标志码:
A
摘要:
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.
Abstract:
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. Petri-Net 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.

参考文献/References:

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[8] 孟中杰,徐秀栋,蔡佳,等.空间遥操作机器人主从双边自适应内模控制[J].计算机测量与控制,2011,19(10):2424-2426.
[9] SMITH A,HASHRTUDI-ZAAD K.Smith predictor type control architectures for time delayed teleoperation[J].The International Journal of Robotics Research,2006,25(8):797-818.
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[11] 蒋再男,刘宏,谢宗武,等.3D图形预测仿真及虚拟夹具的大时延遥操作技术[J].西安交通大学学报,2008,42(1):78-81.

相似文献/References:

[1]林瑞麟,郭新跃,蒋少茵.机器人的动态特性试验研究[J].华侨大学学报(自然科学版),1995,16(4):424.[doi:10.11830/ISSN.1000-5013.1995.04.0424]
 Lin Ruilin,Guo Xinyue,Jiang Shaoyin.Experimental Study of Dynamic Propeties of a Robot[J].Journal of Huaqiao University(Natural Science),1995,16(2):424.[doi:10.11830/ISSN.1000-5013.1995.04.0424]

备注/Memo

备注/Memo:
收稿日期: 2013-06-20
通信作者: 张国亮(1978-),男,讲师,博士,主要从事机器人视觉伺服控制、机器人遥操作的研究.E-mail:zgl0227@sina.com.
基金项目: 国家自然科学基金资助项目(61202468); 福建省自然科学基金资助项目(2013J05091); 华侨大学高层次人才科研启动项目(11BS107)
更新日期/Last Update: 2014-03-20