摘要
各式各样的机器人在现代工厂、采矿、国防、海洋开发及外太空探索中发挥着越来越重要的作用。人工智能发展到今天,在某些领域已有长足的进步。但离真正实现“人一样的智能”,还有很长的路要走。
机器人遥操作技术是机器人研究领域一项非常重要的课题,在机器人智能化程度不高的现实情况下,机器人很难离开人的控制,因此遥操作技术几乎是现在的机器人必须具备的一项技术。机器人遥操作技术在现在和将来都有重要的研究价值和广泛的应用前景。
本文通过深入的分析和详细的研究,对遥操作机器人技术进行了如下研究:
首先,介绍了造成控制系统不稳定的因素——通信延迟。本文对时延系统进行了详细研究,并分析了网络时延问题的处理机制。最后,设计了在实验室环境下进行通信延迟模拟的具体方式,以便于在实验室环境下对机器人遥操作中的时延问题进行仿真研究提供依据。
然后,介绍并总结了人工智能的发展情况。在机器人朝着自动化、智能化发展的大环境下,本文提出了智能机器人系统的的实现方法。
最后,对预测控制中的关键技术“DR算法”进行了详细研究。并在实验室环境下进行了软件仿真试验。DR算法使用的目的在于:一方面,在保证一定的仿真精度的前提下,降低仿真实体发送状态更新信息的频率,降低网络中的通信量;另一方克服网络中固有的传输延迟,对网络延迟进行补偿。实验证明本文提出的基于控制对象行为分析的改进DR算法,在降低网络通信负担,提高控制系统控制精度方面效果明显。
A wide range of robots is playing an increasingly important role in modern factories, mining, defense, marine development and exploration of outer space. Artificial Intelligence developed to today have made great progress in some areas. But away from the truly "human intelligence", there is still a long way to go. Teleoperation robot technology is a very important field of robot. In the reality of not highly intelligent robots, it is difficult to leave the robot's control, so teleoperation technology is now almost a must be with technical for a robot.
Teleoperation technology in the present and future has important research value and broad application prospects.
In this paper, in depth analysising and detailed studying, we have the following studies on teleoperation robot technology:
First, we introduce the resulting control system instability - communication delays. In this paper, we make a detailed study of time-delay system, and analyzes the network's handling of time-delay mechanism. Finally, we design ways of simulated delay in a laboratory environment in order to facilitate for the robot teleoperation in time-delay problems providing a basis for simulation in a laboratory environment.
Then,we introduce and summarize the development of artificial intelligence. In the environment of the robot developing toward automation and intelligent, this paper put forward the design of intelligent robot system.
Finally, we made a detailed study of a key technology " Dead Reckoning " for the predictive control,and made a software simulation in a laboratory environment. The purpose of the use of Dead Reckoning is: on the one hand, under the premise of the simulation accuracy reducing the frequency of simulation entity sending status updating information and reducing network traffic; the other side to overcome the inherent network delay and to compensate network delay. In this paper, we made improvements on Dead Reckoning based on object behavior analysis. Experiment proved that the method has evident result in reducing the network traffic burden and improving control system’s precision.
引文
[1]邹永廖,欧阳自远.某些月球资源、环境特征及开发利用前景,2002年深空探测技术与应用科学国际研讨会论文集,August 12-15,Qingdao,China,2002.2002:381-387页
[2] Liu Dun,Qi Naiming,Hou Jian.Lunar Exploration and Lunar Rover.2002年深空探测技术与应用科学国际研讨会论文集,August 12-15,Qingdao,China,2002.2002:8-11页
[3]林明,唐健,朱纪洪,孙增圻.清华月球车原理样机系统.2002年深空探测技术与应用科学国际研讨会论文集,August 12-15,Qingdao,China,2002.2002:86-92页
[4]陈洋,陆宇平.机器人实时远程控制系统及其开发库的设计与实现[J].电子技术应用,2006,2:7-10页
[5]倪涛,赵丁选,巩明德.遥操作工程机器人遥控端软件设计[J].工程机械,2003,2:4-7页
[6]庄骏,邱平,孙增圻.大时延环境下的分布式遥操作系统[J].清华大学学报,2000,40(1):80-83页
[7]陈启宏.遥操作机器人系统的智能控制研究[D].东南大学,2003
[8]宋爱国,黄惟一.空间遥控作业系统的自适应无源控制[J].宇航学报,1997,18(:3)26一32页
[9]王建刚,董再励,徐心平.遥控作业移动机器人环境方法研究.机器人,1997,19(4):244一249页
[10]蔡自兴.机器人学.北京:清华大学出版社,2000:22一24页
[11]蔡自兴,周翔,李枚毅,等.基于功能/行为集成的自主式移动机器人进化控制体系结构.机器人.2000,22.(3):169一175页
[12]陈卫东,席裕庚,顾冬雷.自主机器的强化学习研究进展.机器人.2001.23(4):379一384页
[13]王于,林良明,颜国正.基于包容结构的移动机器人混合式控制结构.机器人,2002,24(2):171一176页
[14]杨争,胡旭东.自主移动机器人基于行为的导航策略及其实现.机器人技术与发展.2002,5:21一23页
[15]陈深,马旭东,戴先中.基于行为控制的半自主移动机器人系统.计算机工程与应用.2003,2:108一110页
[16]阎平凡,张长水.人工神经网络与模拟进化计算.北京:清华大学出版社,2000
[17]高洪深,陶有德.BP神经网络模型的改进.系统工程理论与实践.1996(1):37一40页
[18]胡群革,郑天柱等.BP神经网络快速学习算法及其应用.计算机与现代化,2001,4
[19]陈源,戴青,唐小伟,马延周.分布式虚拟环境中的DR算法研究.网络安全技术与应用,2008
[20] Teresab Ho.System Architecture for Internet-Based Teleoperation Systems using Java.August 15,1999,p3
[21] Ando Noriaki,etal.Study on Influnce of Time Delay in TeleoPeration Proceedings of the IEEE International Conference on Systems,Man and Cybernetics,Oct1999:1111一1116P
[22] Goldberg Ken,Chen Billy,Solomon Ror,etal.Collbaorative teleoperation via the Internet.Proeeedings-IEEE International Conference on Robotics and Automation,Apr24-Apr28,2000:2019-2024P
[23] DarkoVrecko etc.A new modified Smith Predictor:the concept,design and tuning,ISA Transactions.2001,40,111-121P
[24] Xi Ning , Tarn T.J. Stability Analysis of Non-time Referenced Internet-based Telerobotics System.Robotics and Autonomous System,2000,32:173-178P
[25]张君鸿,马玉林.基于Internet的机器人遥操作系统时间延迟的研究.哈尔滨工业大学硕士学位论文.2003,6
[26] Hashtrudi-Zaad K,Salcudean S E.Transparerncy in time-delayed systems and the effect of local force feedback for transparent teleoperation.IEEE Transaction on robotics and automation,2002,18(1):101-114P
[27] Brady K and Tarn T-J.Internet-based teleoperation,Proceedings of IEEE Int.Conf.On Robotics and Automation,Seoul,Korea,200l,21-26P
[28]景兴建,王越超,谈大龙.遥操作机器人系统时延控制方法综述.自动化学报,2004,30(2):214一222页
[29]马宏鹏,翁春华等.机器人遥操作中的网络传输延迟分析.计算机工程与应用,2002,5,156-157页
[30]陈启宏.遥操作机器人系统的智能控制研究:[博士学位论文].南京:东南大学,2003
[31]宋建.智能控制超越世界的目标.中国自动化学会通讯.1999,(104):7
[32]蒋新松.未来机器人技术发展方向的探讨.机器人.1996,18(5):285~288P
[33] Morie,Jacquelyn Ford.Virtual reality,immersion and the unforgettable experience[J].Proceedings of SPIE-The International Society for Optical Engineering,2006,60(5):101-120P
[34] Yamada,H.Construction tele-robotic system with virtual reality(CG presentation of virtual robot and task object using stereo vision system)[J].Control and Intelligent Systems,2007,35(3):195-201P
[35]熊友军.基于增强现实的遥操作关键技术研究:[工学博士学位论文].武汉:华中科技大学,2005
[36] MonferrerA,BonyuetD.Cooperative robot teleportation through virtual reality interfaces[A].Proceedings of the Sixth International Conference on Information Visualizations(IV.02)[C],2002:243-248P
[37]李磊,叶涛,谭民.移动机器人技术研究现状与未来[J].机器人,2002,24(5):475-480页
[38] Geoffrey A.Landis.Teleoperation from Mars orbit:A proposal for human exploration [J].International Astronautical Federation Congress , 2004 , 4(8):1-7P
[39] WangXiao-Gang,M.MoallemR.V.Patel.An Internet-Based Distributed Multiple-Telerobot System.IEEE 2003:627-633P
[40] Cheng,G.Supervised autonomy:A framework for human-robot systems development[J].Autonomous Robots,2001,10(3):251-266P