东南大学学报（自然科学版）2017，Vol.47Issue(1)：50-55,6.DOI:10.3969/j.issn.1001-0505.2017.01.010
多移动机器人双边遥操作系统中反馈力信息设计与研究
Design and research on feedback force in bilateral teleoperation system for multiple mobile robots
摘要
Abstract
In a bilateral teleoperation system for multiple mobile robots,to study the influences of different feedback forces on the motion performances of the mobile robots,a single-to-multiple semi-physical simulation platform was designed.Moreover,two kinds of feedback forces were designed for the operator,i.e.,force based on the mismatch between the desired and actual velocities,and the repulsive force from the obstacles.In the bilateral teleoperation system,the average velocities of the multi-robot system on the slave side were controlled by the human operator through the force feedback device on the master side.The multi-robot system on the slave side could respond the com-mands from the master side,and the operator could feel the motion state of the multiple mobile robot system through the force feedback device.The semi-physical experimental results show that the sys-tems with force feedback have better performance than that without force feedback.Compared with the feedback force based on the repulsive force from the obstacles,the other feedback force is more conducive to make the multi-robot system avoid obstacles,and track the reference trajectories and the reference velocities from the master side.关键词
双边遥操作/多机器人/反馈力/编队Key words
bilateral teleoperation/multi-robot system/feedback force/formation分类
信息技术与安全科学引用本文复制引用
张颖,宋光明,孙慧玉,韦中,宋爱国..多移动机器人双边遥操作系统中反馈力信息设计与研究[J].东南大学学报（自然科学版）,2017,47(1):50-55,6.基金项目
国家自然科学基金资助项目（61375076）、东南大学优秀博士学位论文基金资助项目（YBJJ1423）、江苏省普通高校研究生科研创新计划资助项目（KYLX＿0108）． （）
