一种基于变权重的六足机器人共享遥操作控制_第1页
一种基于变权重的六足机器人共享遥操作控制_第2页
一种基于变权重的六足机器人共享遥操作控制_第3页
一种基于变权重的六足机器人共享遥操作控制_第4页
一种基于变权重的六足机器人共享遥操作控制_第5页
已阅读5页,还剩1页未读 继续免费阅读

下载本文档

版权说明:本文档由用户提供并上传,收益归属内容提供方,若内容存在侵权,请进行举报或认领

文档简介

一种基于变权重的六足机器人共享遥操作控制Title:VariableWeight-BasedSharedTeleoperationControlforHexapodRobotsAbstract:Hexapodrobotshaveshownsignificantpotentialinvariousapplicationsduetotheirabilitytotraversetoughterrainsandperformcomplextasks.However,ensuringeffectiveandstablecontroloftheserobots,especiallyinsharedteleoperationscenarios,remainschallenging.Thispaperproposesanovelapproachbasedonvariableweight-basedcontrolforsharedteleoperationofhexapodrobots.Theapproachaimstoaddresstheissuesofloadbalancing,operatorassistance,andoverallsystemstability.1.Introduction1.1Background1.2Motivation1.3Objectives2.RelatedWork2.1Teleoperationcontrolforhexapodrobots2.2Sharedteleoperationcontrol2.3Loadbalancinginmulti-robotsystems3.SystemArchitecture3.1Hexapodrobotplatform3.2Controlsystemoverview3.3Communicationframework4.VariableWeight-BasedControl4.1Weightadjustmentstrategy4.2Loadbalancingalgorithm4.3Operatorassistance5.ExperimentalSetup5.1Hardwaredescription5.2Softwareimplementation5.3Experimentscenarios6.ResultsandDiscussion6.1Loadbalancingperformanceevaluation6.2Operatorassistanceeffectiveness6.3Overallsystemstabilityanalysis7.ComparisonwithExistingMethods7.1Analysisofeffectivenessandefficiency7.2Potentiallimitations7.3Scalabilityandadaptability8.ConclusionandFutureWork8.1Summaryofcontributions8.2Futureresearchdirections1.Introduction1.1Background:Hexapodrobotsareatypeofrobotwithsixlegs,capableoftraversingcomplexterrainsandexecutingversatiletasks.Theserobotsfindapplicationsinsearchandrescueoperations,militaryoperations,andexplorationmissions.Sharedteleoperationcontrolallowsmultipleoperatorstocontrolthesehexapodrobotsconcurrently,leveragingthecollectiveexpertiseofhumanoperators.However,maintainingbalance,assistingoperators,andensuringoverallsystemstabilityarefundamentalchallengesinsharedteleoperationcontrol.1.2Motivation:Sharedteleoperationcontrolforhexapodrobotspresentsnewopportunitiesforcollaborativeexplorationandoperation.Byleveragingmultipleoperators'skills,therobotscanperformbetterincomplexanddynamicenvironments.However,aneffectivecontrolschemethatconsidersthedynamicloaddistribution,operatorassistance,andoverallsystemstabilityislacking.Thispaperaimstobridgethisgapandproposeavariableweight-basedcontrolapproach.1.3Objectives:Theobjectiveofthisresearchistodevelopandevaluateavariableweight-basedcontrolschemeforsharedteleoperationofhexapodrobots.Theproposedapproachaimstoachieveloadbalancingamongtheoperators,provideoperatorassistancewhenrequired,andmaintainoverallsystemstabilityduringteleoperation.2.RelatedWork2.1Teleoperationcontrolforhexapodrobots:Previousstudieshavefocusedondevelopingteleoperationcontrolstrategiesforhexapodrobots.Thesestrategiesinvolvemappingoperatorcommandstorobotactions,managingrobotposture,andmaintainingrobotstabilityduringoperation.2.2Sharedteleoperationcontrol:Sharedteleoperationcontrolallowsmultipleoperatorstocollaborativelycontrolarobot.Loadbalancing,synchronization,andoperatorassistancearethekeychallengesinsharedteleoperation.Existingapproacheshaveemployedtime-sharingortask-sharingbasedstrategiestoaddressthesechallenges.2.3Loadbalancinginmulti-robotsystems:Loadbalancinginmulti-robotsystemsaimstodistributetheworkloadevenlyamongmultipleagents.Loadbalancingalgorithmsbasedonvariableweightdistributionhavebeenusedinvariousfields,includingroboticsandcloudcomputing.3.SystemArchitecture3.1Hexapodrobotplatform:Thehexapodrobotplatformusedinthisresearchisequippedwithhigh-speedactuators,forcesensors,andacommunicationinterfacethatenablessharedteleoperation.3.2Controlsystemoverview:Thecontrolsystemconsistsofmultiplecomponents,includingtheoperatorinterface,communicationmodule,controlalgorithm,andhexapodrobot.3.3Communicationframework:Arobustandlow-latencycommunicationframeworkisessentialforsharedteleoperation.Thisresearchutilizesadistributedcommunicationarchitecturetoexchangecontrolcommandsandfeedbackdataamongoperatorsandtherobot.4.VariableWeight-BasedControl4.1Weightadjustmentstrategy:Theweightadjustmentstrategydynamicallyadjuststhecontributionsofindividualoperatorsbasedontheircapabilitiesandworkload,ensuringloadbalancingamongtheoperators.4.2Loadbalancingalgorithm:Theloadbalancingalgorithmcalculatestheappropriatedistributionofcontrolcommandsamongoperators,consideringtherobot'sposture,terrainconditions,andoperatorcapabilities.4.3Operatorassistance:Operatorassistancemechanismsareincorporatedtoguideoperatorsduringchallengingsituationsorwhentherobot'sstabilityiscompromised.Thisassistancecanbeprovidedthroughvisualfeedback,forcefeedback,orautomaticobstacleavoidance.5.ExperimentalSetup5.1Hardwaredescription:Theexperimentalsetupconsistsofmultipleteleoperationstationsequippedwithjoysticks,forcefeedbackdevices,andvideodisplays.Thehexapodrobotplatformisequippedwithsensorsforcontactforcemeasurementandpositionsensing.5.2Softwareimplementation:ThesoftwarecontrolsystemisimplementedusingacombinationofROS(RobotOperatingSystem)andcustomizedcontrolalgorithms.5.3Experimentscenarios:Severalexperimentscenariosaredesignedtoevaluatetheperformanceoftheproposedvariableweight-basedcontrolapproach.Thesescenariosincludedifferentterrains,operatorskilllevels,andobstacleavoidancetasks.6.ResultsandDiscussion6.1Loadbalancingperformanceevaluation:Theloadbalancingalgorithm'seffectivenessisevaluatedbyanalyzingtheoperators'workloaddistribution.Metricssuchascommandexecutiontime,forceexertion,andoperatorsatisfactionareconsidered.6.2Operatorassistanceeffectiveness:Theoperatorassistancemechanisms'effectivenessisevaluatedbyanalyzingtheoperators'reactiontime,accuracy,andsubjectivelyassessedworkloadreduction.6.3Overallsystemstabilityanalysis:Theoverallsystemstabilityisassessedbyanalyzingtherobot'sposturestability,theoccurrenceoffalls,andtheimpactofoperatorcommandsontherobot'sstability.7.ComparisonwithExistingMethods7.1Analysisofeffectivenessandefficiency:Theproposedvariableweight-basedcontrolapproachiscomparedwithexistingloadbalancingschemesandsharedteleoperationcontrolmethodsintermsofloaddistribution,overallsystemstability,andoperatorassistanceeffectiveness.7.2Potentiallimitations:Thepotentiallimitationsoftheproposedapproachareanalyzed,includingtheimpactofcommunicationlatency,dynamicworkloadchanges,andadaptabilitytodifferentrobotplatforms.7.3Scalabilityandadaptability:Thescalabilityandadaptabilityoftheproposedcontrolapproacharediscussed,consideringscenariosinvolvingmorethansixoperatorsandadaptingtodifferentrobotconfigurations.8.ConclusionandFutureWork8.1Summaryofcontributions:Thepaperpresentsavariableweight-basedcontrols

温馨提示

  • 1. 本站所有资源如无特殊说明,都需要本地电脑安装OFFICE2007和PDF阅读器。图纸软件为CAD,CAXA,PROE,UG,SolidWorks等.压缩文件请下载最新的WinRAR软件解压。
  • 2. 本站的文档不包含任何第三方提供的附件图纸等,如果需要附件,请联系上传者。文件的所有权益归上传用户所有。
  • 3. 本站RAR压缩包中若带图纸,网页内容里面会有图纸预览,若没有图纸预览就没有图纸。
  • 4. 未经权益所有人同意不得将文件中的内容挪作商业或盈利用途。
  • 5. 人人文库网仅提供信息存储空间,仅对用户上传内容的表现方式做保护处理,对用户上传分享的文档内容本身不做任何修改或编辑,并不能对任何下载内容负责。
  • 6. 下载文件中如有侵权或不适当内容,请与我们联系,我们立即纠正。
  • 7. 本站不保证下载资源的准确性、安全性和完整性, 同时也不承担用户因使用这些下载资源对自己和他人造成任何形式的伤害或损失。

评论

0/150

提交评论