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基于证据理论的虚拟力机器人网络控制


□ 刘玉芹 符秀辉 曹景兴

  摘 要:将网络与机器人相连,延伸网络的应用领域,可以实现价格低廉的远程监视与操作,而远程控制成功实现的关键在于信息的正确获得。利用Dempster-Shafer对六个超声波传感器所获取的距离信息进行融合,而后连同速度信息提供给弹簧-阻尼器系统以构建虚拟力;力的信息通过编程映射到游戏杆上,变成操纵方向的约束力。通过采用微软公司的带有力反馈的操纵杆作为力觉提示装置控制移动机器人在结构化环境下顺利运行,验证了虚拟力信息获取方法的有效性。

  关键词:虚拟力; 证据推理; 弹簧—阻尼器模型; 操纵杆

  中图分类号:TP24 文献标志码:A

  文章编号:1001-3695(2009)09-3411-03

  doi:10.3969/j.issn.1001-3695.2009.09.059

  Network control for robot based on virtual force of evidential theory

  LIU Yu-qin1,FU Xiu-hui1,2,CAO Jing-xing3

  (1.School of Information Engineering, Shenyang Institute of Chemical Technology, Shenyang110142, China; 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110013, China; 3.Shenyang Siasun Robotic Corporation, Shenyang 110168, China)

  Abstract:The remote surveillance and manipulation may be gotten ton of cheap when the network is connected with the robot and its applications are extended. However, the key to complete remote control is to get the true information. The paper fused the distances gathered by six ultrasonic sensors that were given to the spring-damper model to describe the force. The force was mapped to joystick by programming so that it was inverted into a sanction of the manipulating direction. The mobile robot was controlled to run smoothly under the unknown environment by Microsoft SideWinder Force Feedback Pro to verify the validity of the force feedfack method.

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