Research on Telerobot Control Modes and Timely Automatic Switching Strategy

摘要：

A multi-control modes timely automatic switching strategy is proposed and two common control modes are improved aiming at the problems of present telerobot system, including poor human-machine coordinated interaction ability, single operation mode, low system efficiency, operator in the state of continuous and boring direct control and low stability. Supervisory mode with virtual feedback model and predictive/preview mode with dual virtual model overlapping display are proposed. Finally, the process of control strategy is simulated with colored Petri net and an experimental platform is built to verify the control strategy in the actual task. The simulation and experimental results show that the control modes and control strategy are reasonable and effective.

关键词： telerobot control mode automatic switching strategy

作者: Dongjie Li Li Zhang Bo You Zhilong Yu

作者单位: School of Automation Harbin University of Science and Technology Harbin 150080, China

会议类型: 国际会议

会议名称: 2012 International Conference on Measurement,Information and Control(2012测量、信息与控制国际会议 ICMIC2012)

会议地点: 哈尔滨

会议语种:英文

页码: 773-777

在线出版日期: 2012-05-18（万方平台首次上网日期，不代表论文的发表时间）