基于internet的遥操作机器人.doc
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基于internet的遥操作机器人,摘要遥操作机器人系统是指在人的操纵下，使用远端机器人来代替人从事难以接近或对人有害环境下任务的一种远距离操纵系统。已被广泛运用于深海探测、空间探索、核工业等多个领域，而基于internet的遥操作机器人系统更是以其低成本、通用性得到了广泛的研究与发展。但是遥操作机器人系统在保证操作者安全性和提高工作效率的同时，严重的不...
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此文档由会员 违规屏蔽12 发布
摘 要
遥操作机器人系统是指在人的操纵下，使用远端机器人来代替人从事难以接近或对人有害环境下任务的一种远距离操纵系统。已被广泛运用于深海探测、空间探索、核工业等多个领域，而基于Internet的遥操作机器人系统更是以其低成本、通用性得到了广泛的研究与发展。
但是遥操作机器人系统在保证操作者安全性和提高工作效率的同时，严重的不足也暴露出来了，因为其通讯环节势必会产生时延，而时延的存在又会影响遥操作机器人系统的可操作性，甚至导致系统不稳定。Internet 引起的时延更是具有随机性、不可预测性等特点。针对这个问题，本文主要做了以下几个方面的工作：
1、 在基于Internet遥操作机器人系统中，Internet 引起的变时延问题是影响系统可操作性与稳定性的关键性问题。本文针对 Internet 通信结构与网络协议进行了分析，同时研究了其网络传输时延的特性，介绍了数据包丢失的处理方法。
2、 建立了系统的动力学模型及二端口网络模型，研究了波变量转换方法及其特性，分析了基于波变换的遥操作机器人系统在定时延、变时延条件下的无源性与有源性，并针对变时延会增加系统通讯通道能量致使系统不稳定的问题，采取了加校正器来使系统恢复无源性的方法，最后通过仿真实验验证了该方法的有效性。
3、研究了四通道结构的特点，并针对基于波变换方法系统透明性较差，而基于四通道结构系统无源性又得不到保障的情况，采取了将波变换与四通道结构相结合的波域四通道结构的方法，同时对基于该方法的定时延、变时延系统的稳定性与透明性进行了分析。最后针对通讯通道中存在的波反射现象，设计了相应的滤波器。同样通过仿真实验验证了，该方法能够使得系统具有良好的稳定性与透明性。
4、阐述了透明性量化分析的重要性，分析了Yokokohji透明性量化分析方法，并利用其对基于波变换与基于波域四通道结构的遥操作机器人系统的透明性分别进行了量化，最后对两者的量化结果进行了分析对比。
关键词 遥操作机器人；Internet；波变换；波域四通道结构；透明性
Abstract
Tele-robot is a long-distance operating system which can do very complex task in harmful environment under the people’s supervision. It has been applied to many areas, such as deep ocean detecting, the space exploration and the nuclear industry and so on. And the teleoperation system based on Internet has been also extensive research and development because of its low cost and universality.
While teleoperation systems guaranted that the operator safety and enhancement working efficiency, they suffer from serious problems resulting from the communication link which will bring on time-delay inevitably, the time-delay will cause the system to not work normally and be unstably. What’s more, the time-delay which Internet causes is random and not predective. To solve the problem, the main work of this paper are as follows:
Firstly, in the teleoperation system based on Internet, the time-delay which Internet causes is always the key issue that influences the system’s maneuverability and stability. The Internet structure and protocol was analyzed in this paper, and researched its time-delay characteristics, introduced the process of packets lost.
Secondly, the remote operating system’s kinetic model and two-port network model were established, then the wave transformation stucture and its characteristics were studyed. In this article, under the constant or varying time delay in the communication channel, the wave-based teleoperation system’s passive reason was analyzed. And because the delay increased the energy of the communication channel and caused the system unstable, two crrectors were adopted to restore system passivity. At last, the effectiveness of the control algorithm was showed through simulation.
Thirdly, the four channel contol structure was investigated, then in order to improve transparency of the wave-based telerobot system and warrant the passivity of the four channel control structure system, a new method wave-based four channel control structure was adopted in the paper, and whose stability and transparency was analyzed under different time-delay. A filter was used to reduce the impact of wave reflection which existed in the communication channel. At last, the effectiveness of this control algorithm was also showed through simulation, and the simulation validate that good performance was achieved.
Finally, the importance of transparency quantizing analysis was proposed, and analyzed the Yokokohji’s method of transparency quantizing analysis, base on which the wave-based teleoperation system’s transparency was quantized, so did the wave-based four channel system. Then their results were compared and analyzed.
Key words teleoperation; Internet; wave transformation; wave-based four channel; transparency
目 录
摘 要 I
Abstract III
第1章 绪论 1
1.1 研究背景及意义 1
1.1.1遥操作机器人系统的概述 1
1.1.2 遥操作机器人研究目的与意义 2
1.2 遥操作机器人研究现状 2
1.2.1预测控制 3
1.2.2 远程规划 3
1.2.3 双边控制 4
1.2.4 基于Internet的遥操作机器人 7
1.3 存在问题 8
1.4 本文主要工作 8
第2..
遥操作机器人系统是指在人的操纵下，使用远端机器人来代替人从事难以接近或对人有害环境下任务的一种远距离操纵系统。已被广泛运用于深海探测、空间探索、核工业等多个领域，而基于Internet的遥操作机器人系统更是以其低成本、通用性得到了广泛的研究与发展。
但是遥操作机器人系统在保证操作者安全性和提高工作效率的同时，严重的不足也暴露出来了，因为其通讯环节势必会产生时延，而时延的存在又会影响遥操作机器人系统的可操作性，甚至导致系统不稳定。Internet 引起的时延更是具有随机性、不可预测性等特点。针对这个问题，本文主要做了以下几个方面的工作：
1、 在基于Internet遥操作机器人系统中，Internet 引起的变时延问题是影响系统可操作性与稳定性的关键性问题。本文针对 Internet 通信结构与网络协议进行了分析，同时研究了其网络传输时延的特性，介绍了数据包丢失的处理方法。
2、 建立了系统的动力学模型及二端口网络模型，研究了波变量转换方法及其特性，分析了基于波变换的遥操作机器人系统在定时延、变时延条件下的无源性与有源性，并针对变时延会增加系统通讯通道能量致使系统不稳定的问题，采取了加校正器来使系统恢复无源性的方法，最后通过仿真实验验证了该方法的有效性。
3、研究了四通道结构的特点，并针对基于波变换方法系统透明性较差，而基于四通道结构系统无源性又得不到保障的情况，采取了将波变换与四通道结构相结合的波域四通道结构的方法，同时对基于该方法的定时延、变时延系统的稳定性与透明性进行了分析。最后针对通讯通道中存在的波反射现象，设计了相应的滤波器。同样通过仿真实验验证了，该方法能够使得系统具有良好的稳定性与透明性。
4、阐述了透明性量化分析的重要性，分析了Yokokohji透明性量化分析方法，并利用其对基于波变换与基于波域四通道结构的遥操作机器人系统的透明性分别进行了量化，最后对两者的量化结果进行了分析对比。
关键词 遥操作机器人；Internet；波变换；波域四通道结构；透明性
Abstract
Tele-robot is a long-distance operating system which can do very complex task in harmful environment under the people’s supervision. It has been applied to many areas, such as deep ocean detecting, the space exploration and the nuclear industry and so on. And the teleoperation system based on Internet has been also extensive research and development because of its low cost and universality.
While teleoperation systems guaranted that the operator safety and enhancement working efficiency, they suffer from serious problems resulting from the communication link which will bring on time-delay inevitably, the time-delay will cause the system to not work normally and be unstably. What’s more, the time-delay which Internet causes is random and not predective. To solve the problem, the main work of this paper are as follows:
Firstly, in the teleoperation system based on Internet, the time-delay which Internet causes is always the key issue that influences the system’s maneuverability and stability. The Internet structure and protocol was analyzed in this paper, and researched its time-delay characteristics, introduced the process of packets lost.
Secondly, the remote operating system’s kinetic model and two-port network model were established, then the wave transformation stucture and its characteristics were studyed. In this article, under the constant or varying time delay in the communication channel, the wave-based teleoperation system’s passive reason was analyzed. And because the delay increased the energy of the communication channel and caused the system unstable, two crrectors were adopted to restore system passivity. At last, the effectiveness of the control algorithm was showed through simulation.
Thirdly, the four channel contol structure was investigated, then in order to improve transparency of the wave-based telerobot system and warrant the passivity of the four channel control structure system, a new method wave-based four channel control structure was adopted in the paper, and whose stability and transparency was analyzed under different time-delay. A filter was used to reduce the impact of wave reflection which existed in the communication channel. At last, the effectiveness of this control algorithm was also showed through simulation, and the simulation validate that good performance was achieved.
Finally, the importance of transparency quantizing analysis was proposed, and analyzed the Yokokohji’s method of transparency quantizing analysis, base on which the wave-based teleoperation system’s transparency was quantized, so did the wave-based four channel system. Then their results were compared and analyzed.
Key words teleoperation; Internet; wave transformation; wave-based four channel; transparency
目 录
摘 要 I
Abstract III
第1章 绪论 1
1.1 研究背景及意义 1
1.1.1遥操作机器人系统的概述 1
1.1.2 遥操作机器人研究目的与意义 2
1.2 遥操作机器人研究现状 2
1.2.1预测控制 3
1.2.2 远程规划 3
1.2.3 双边控制 4
1.2.4 基于Internet的遥操作机器人 7
1.3 存在问题 8
1.4 本文主要工作 8
第2..
