机器人2015，Vol.37Issue(6)：725-731,7.DOI:10.13973/j.cnki.robot.2015.0725
模块化主从机器人的运动学映射算法
Kinematic Mapping Algorithms for Modular Master-Slave Robots
摘要
Abstract
For modular master-slave robots, 5 basic kinematic mapping algorithms are proposed, including PO3, O3, P3, pO3 and Po3, and an implementation method for teleoperation task through mapping sequence consisting of those 5 basic mappings is presented. The presented method is commonly suitable for both isomorphic and isomerous master-slave teleoperation systems. Besides, a whole closed control loop consisting of the operator, master robot, slave robot and task object is analyzed, especially the positive and negative effects of the operator, i.e. high intelligent decision and error sources. Finally, the presented implementation method for teleoperation task is modeled and simulated through 3 classic tasks of climbing bio-robot, including grasping a ball, a cylinder and a cube. Hence, the feasibility of the method under positive and negative effects is verified. The implementation performance demonstrates the repeated process for completing teleoperation tasks, and show that the proposed method can perform a single task and is suitable for various kinds of tasks.关键词
遥操作/模块化机器人/运动学映射/映射序列/操作者误差Key words
teleoperation/modular robot/kinematics mapping/mapping sequence/operator error分类
信息技术与安全科学引用本文复制引用
苏满佳,吴鸿敏,谷世超,黄晶,管贻生,刘冠峰..模块化主从机器人的运动学映射算法[J].机器人,2015,37(6):725-731,7.基金项目
广东省自然科学基金重点项目(S2013020012797) （S2013020012797）
国家自然科学基金委-广东省人民政府联合基金重点项目(U1401240) （U1401240）
国家自然科学基金项目(51375095) （51375095）
国际科技合作专项项目(2015DFA11700). （2015DFA11700）
