Teleoperation of multi-robot and multi-property systems
Teleoperation of multi-robot and multi-property systems
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DOI：
10.1109/indin.2008.4618333
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发表时间：
2008-07
期刊：
影响因子：
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通讯作者：
I. Farkhatdinov;J. Ryu
中科院分区：
文献类型：
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作者：
I. Farkhatdinov;J. Ryu
本文研究了多远程操作系统中控制信号的切换问题。在远程操作系统中，操作员通过操纵主设备来控制远端的从机器人。如今，遥控机器人系统在人类生活的各个方面变得越来越重要。通常需要一名操作员对多个机器人进行远程操作或控制一个机器人的几个特性。为了解决这一问题，提出了一种基于人机信号切换的多系统遥操作控制策略。考虑了两种类型的多机器人远程操作系统和多属性远程操作系统。在多机器人远程操作系统中，一个人控制远端一组机器人。在多属性远程操作系统中，一个人控制一个机器人的多个属性。在这两种情况下，控制都是通过操纵一个主设备来完成的。因此，需要一种切换控制策略，使操作员能够对多个系统进行顺序遥操作。本文对开关过程和控制信号的分配进行了形式化描述。为了验证所提出的开关控制策略，给出了两个应用实例。首先，对采用切换控制策略的机械手移动平台遥操作进行了分析。在这种情况下，通过设计的切换控制器，将操作人员的控制信号在移动平台和机械手之间进行分配。其次，描述了速度和位置控制相结合的移动机器人遥操作。在本例中，操作人员可以在速度控制模式和位置控制模式之间切换移动机器人遥操作的控制模式。通过仿真和实验验证了上述开关方法的有效性。对速度与位置联合控制的移动机器人遥操作进行了实验研究。测量了移动机器人遥操作的导航时间和定位精度，并对速度、位置和组合控制策略进行了比较。实验结果表明，该开关控制器的应用提高了远程操作系统的性能和精度。
This paper presents a study on switching of control signals in multiple teleoperation systems. In teleoperation systems human-operator controls slave robot on remote side via manipulating master device. Today teleoperated robot systems are becoming more and more significant in various aspects of human life. It is often required to one human-operator to perform teleoperation of several robots or to control several properties of one robot. To solve this issue we proposed a control strategy based on switching of control signals from human-operator in teleoperation of multiple systems. Two types of multiple teleoperation systems are considered: multi-robot and multi-property teleoperation systems. In multi-robot teleoperation systems, one human-operator controls a group of robots in remote side. In multi-property teleoperation systems, one human-operator controls several properties of one robot. In both cases, control is done via manipulating only one master device. Therefore, switching control strategy which allows human-operator to perform sequential teleoperation of multiple systems is required. In this paper formalization of switching process and control signal distribution was done. In order to verify proposed switching control strategy two application examples were presented. First, teleoperation of mobile platform with manipulator using switching control strategy was analyzed. In this case, control signal from human-operator was distributed between mobile platform and manipulator with the help of designed switching controller. Second, mobile robot teleoperation with combined speed and position control was described. In this example, human-operator could switch control mode for mobile robot teleoperation between speed control mode and position control mode. The above described switching methods have been verified by simulation and experiment. Experimental study for mobile robot teleoperation with combined speed and position control was performed. Navigation time and positioning accuracy in mobile robot teleoperation were measured and compared in speed, position and combined control strategies. Experimental results showed that application of proposed switching controller improved performance and accuracy of teleoperation system.