A Novel Distributed Telerobotic System for Construction Machines Based on Modules Synchronization
A Novel Distributed Telerobotic System for Construction Machines Based on Modules Synchronization
复制标题
基于模块同步的新型建筑机械分布式远程机器人系统
DOI：
10.1109/iros.2006.281913
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
E. Nakano
中科院分区：
文献类型：
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作者：
E. Rohmer;Kazuya Yoshida;E. Nakano
在自然灾害现场，救援人员需要重型液压机器来满足他们对大规模力量的需求，或者接近无法到达的地点。这些工业车辆是液压驱动的臂，运动学上不同，并配备了特定的工具，以适应要完成的任务。由于其复杂的用途，它们需要经过培训的操作员。由于时间和准确性是在这种情况下挽救生命的首要因素，因此有必要使用自动化和机器人概念来控制这些机器。标准的方法是使用基于双边主/从系统的手动遥操作，以提高机器的可操作性，但它们的多样性几乎从未考虑过。我们建议在这里，一个模块化平台的基础上的原始同步模块的状态，允许容易的机械手的变化和使用的灵活性。我们将描述所提出的智能接口概念，并通过一些相关的配置和实验来验证其实用性和性能
On a scene of a natural disaster, rescuers require heavy duty hydraulic machines to answer their need of large forces, or to approach an unreachable spot. Those industrial vehicles are hydraulically actuated arms kinematically different, and equipped by specific tools to fit the task to accomplish. They require trained operators because of their complex use. As time and accuracy are primordial factors to save lives in such a situation, the use of automation and robotic concepts on the control of those machines becomes necessary. The standard approach is to use manual teleoperation based on a bilateral master/slave system, to enhance the maneuverability of the machines, but their diversity is nearly never taken into account. We propose here, a modular platform based on an original synchronization of module states that allows easy manipulator changes and flexibility of use. We will describe the proposed concept of intelligent interface, and verify its utility and performances through some pertinent configurations and experiment