Modeling and control of teleoperated manipulator system based on hybrid control method

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Modeling and control of teleoperated manipulator system based on hybrid control method
	Hua JN(化建宁); Xi N(席宁); Wang YC(王越超); Fu XH(符秀辉)
	2006
会议名称	6th International Conference on Intelligent Systems Design and Applications (ISDA 2006)
会议日期	October 16-18, 2006
会议地点	Jinan, China
关键词	hybrid control telerohotic systems hybrid system humanlrobot cooperation
页码	237-242
中文摘要	A method based on hybrid control theory for modeling and control of teleoperated manipulator system is presented in this paper. In telerobotic systems, human operator plays the role of a command generator which produces commands in real time according to information fed back. However, telerobotic system is a heterogeneous system and the heterogeneity can be characterized by the fact that humans are intelligent while robots are fast, powerful and accurate. Human operator is different from autonomous planner in robotic systems in that he can not generate continuous control inputs to the remote robot. As a result, telerobotic system is a typical hybrid system which contains both continuous-time and discrete event dynamics. Specifically, the robot can be considered as a continuous-time system described customarily by differential equations or difference equations, and the human operator can be modeled by an automaton. A hybrid framework is of key importance for the study of such a system. The problems to be discussed in this paper include developing a framework in which both the robotic system and the human operator can be modeled simultaneously, and introducing how to implement this framework in a real, teleoperated manipulator system.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Syst Man & Cybernet Soc
会议录	ISDA 2006: Sixth International Conference on Intelligent Systems Design and Applications, Vol 2
会议录出版者	IEEE COMPUTER SOC
会议录出版地	LOS ALAMITOS
语种	英语
ISBN号	0-7695-2528-8
WOS记录号	WOS:000242508100045
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8783]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Hua JN,Xi N,Wang YC,et al. Modeling and control of teleoperated manipulator system based on hybrid control method[C]. 见:6th International Conference on Intelligent Systems Design and Applications (ISDA 2006). Jinan, China. October 16-18, 2006.