Implementation and Control of Generic Internet-Based Telerobotic Systems
Implementation and Control of Generic Internet-Based Telerobotic Systems
复制标题
基于互联网的通用远程机器人系统的实现和控制
DOI：
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发表时间：
2004
影响因子：
3.2
通讯作者：
Masatoshi Nakamura
中科院分区：
文献类型：
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作者：
S. Munasinghe;Jujang Lee;Yuji Ishida;N. Egashira;Masatoshi Nakamura
远程机器人正在成为一个日益重要的研究和应用领域。近年来，远程机器人和远程操作技术得到了广泛的应用。从空间和轨道[1]任务，远程操作已经在海底[2]、医疗[3]、福利[4]、救援[5]和娱乐[6]应用中发现了它的潜力。尽管如此，遥控机器人的研究仅限于极少数机构。此外，它不是机器人研究的主流，主要是因为它需要广泛的多学科专业知识来构建和维护远程机器人系统。似乎远程机器人系统设计的技术细节还没有被适当地记录下来，并为研究界广泛提供。因此，设计和实现远程机器人系统已成为一项艰巨的任务。在这项工作中，我们提出了一个通用的基于互联网的远程机器人系统的设计和实现的详细说明。设计细节可以帮助新手研究人员快速掌握实现自己的远程机器人系统所需的关键要素。本文所描述的通用远程机器人系统是基于客户端-服务器的概念，客户端作为远程操作者，服务器作为远程机器人的本地控制器。我们采用了监督控制，远程操作者将相关信息发送给本地控制器，本地控制器独立进行轨迹规划和机器人控制。该通用设计描述了两级监控模式；高层监督控制和低层监督控制。
Telerobotics is becoming an increasingly important research and application area. Recently, telerobotics and teleoperations have been introduced in a wide range of applications. Ranging from space and orbital [1] tasks, teleoperations has found its potential in underseas [2], medical [3], welfare [4], rescue [5], and entertainment [6] applications. Nonetheless, telerobotics research is limited to a very few institutions. Furthermore, it is not in the main stream of robotics research mainly due to the fact that it requires a wide range of multi-disciplinary expertise to construct and maintain a telerobotics system. It also seems that the technical details of telerobotics system designs have not been properly documented and made widely available for the research community. As such, it has become an exhaustive task to design and implement a telerobotics system. In this work, we present a detailed account on the design and implementation of a generic Internetbased telerobotics system. The design details may help novice researchers to quickly grasp the key essentials required to implement their own telerobotics systems. The generic telerobotics system described in this paper is based on the client-server concept with the client as the remote operator, and the server as the local controller of the telerobot. We have adopted supervisory control in that the remote operator sends pertinent information to the local controller, and the local controller carries out trajectory planning and robot control independently. Two-level supervisory control modes are described in this generic design; high-level supervisory control and low-level supervisory control.