A hybrid control method for telerobotic systems
文献类型：会议论文
| 作者 | Hua JN(化建宁); Wang YC(王越超)
|
| 出版日期 | 2006 |
| 会议日期 | August 20-23, 2006 |
| 会议地点 | Weihai, China |
| 关键词 | Hybrid Control Telerobotic Systems Hybrid System |
| 页码 | 510-515 |
| 英文摘要 | A hybrid control method for telerobotic systems which considers simultaneously the control and decision-making issues is presented in this paper. Telerobotic system is a typical hybrid system which contains both continuous-time and discrete event dynamics. Specifically, the robot can be considered as a continuous-time system modeled customarily by differential equations or difference equations, and the human operator whose function is to generate commands for robot located in the remote side, however, can be modeled by an automaton. As a result, telerobotic system is a heterogeneous system and the heterogeneity can be characterized by the fact that humans are intelligent while robots arc fast, powerful and accurate. From the point of view of control, a hybrid framework is of key importance for the study of such a system. In this paper, the specific problems to be discussed include developing a framework in which both the robotic system and the human operator can be modeled simultaneously, and introducing how to apply this framework in a real teleoperated manipulator system. The main contribution of this paper is the development of a mathematical model which incorporates human intervention into an autonomous control model. |
| 源文献作者 | IEEE Robot & Automat Soc, CAS, Inst Intelligent Machines, Chinese Univ Hong Kong, Int Assoc Informat Acquisit, Int Journal Informat Acquisit |
| 产权排序 | 1 |
| 会议录 | 2006 IEEE International Conference on Information Acquisition, Vols 1 and 2, Conference Proceedings
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 1-4244-0528-9 |
| WOS记录号 | WOS:000242935800095 |
| 源URL | [http://ir.sia.cn/handle/173321/8481]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Hua JN(化建宁) |
| 作者单位 | Robotics Laboratory, Chinese Academy of Sciences, Shenyang Institute of Automation(SIA), Shenyang, Liaoning Province, China |
| 推荐引用方式 GB/T 7714 | Hua JN,Wang YC. A hybrid control method for telerobotic systems[C]. 见:. Weihai, China. August 20-23, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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