期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

竞争型机器人仿真系统设计与实现 被引量：2

Design and Implementation of Simulation System for the Competitive Robot System
下载PDF
导出
摘要 为满足竞争型机器人系统Tele-LightSaber(TLS)对竞争博弈算法和相关的视觉伺服控制策略快速验证的要求,本文结合遥击剑TLS实验平台及其作业特点,设计并实现了基于"人机智能和谐分配"的竞争型机器人仿真系统.通过系统配置及离线编程,对实验数据再现并进行误差分析,表明本仿真系统能够较好地模拟实际系统,为TLS系统实验提供了前期的验证平台. In order to fulfill the requirements for rapid evaluating of competitive robot（Tele-LightSaber,TLS） system＇s competitive algorithms and visual servo control,a simulation system for the competitive robot system is designed and implemented based on TLS experimental platform and its operating characteristics,as well as the concept of ＂harmonious distribution of human-computer intelligence＂.Through system configuration and off-line programming,the simulation system reproduces experimental data and performs error analysis.The results show that the competitive robot simulation system can simulate the actual system,and provide a pre-experimental verification platform for TLS system.
作者 于凯妍 刘景泰 卢翔 李海丰 李岩 孙雷
机构地区 南开大学机器人与信息自动化研究所
出处 《机器人》 EI CSCD 北大核心 2011年第6期649-657,共9页 Robot
基金 国家自然科学基金资助项目(60905061) 天津市科技计划资助项目(08JCYBJC12700)
关键词 竞争型机器人系统 MATLAB仿真 视觉伺服 离线编程 误差分析 competitive robot system Matlab simulation visual servoing off-line programming error analysis
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献9

  • 1Chacin M, Rohmer E, Mora A, et al. A high level teleoperation platform for space robotic mission[C]//2nd IEEE International Conference on Space Mission Challenges for Information Technology. Piscataway, NJ, USA: IEEE, 2006: 133-139.
  • 2张斌.多机器人系统仿真平台[D].北京:中国科学院自动化研究所,2003.
  • 3黄立,叶益斌,张辉.基于Microsoft Robotics Studio的机器人运动仿真研究[J].机电工程,2010,27(8):122-126. 被引量：7
  • 4刘景泰,李海丰,孙雷,黄际劲,张星星,李岩.Tele-LightSaber——一种高对抗度竞争型网络机器人系统[J].机器人,2009,31(6):505-512. 被引量：7
  • 5Goldberg K, Song D, Levandowski A. Collaborative teleoperation using networked spatial dynamic voting[J]. Proceedings of the IEEE, 2003, 91(3): 430-439.
  • 6Goldberg K, Song D, Song I Y, et al. Unsupervised scoring for scalable intemet-based collaborative teleoperation[C]//IEEE International Conference on Robotics and Automation. Piscataway, N J, USA: IEEE, 2004:4551-4556.
  • 7Corke P I. A robotics toolbox for MATLAB[J]. IEEE Robotics and Automation Magazine, 1996, 3(1): 24-32.
  • 8Corke P I. A computer tool for simulation and analysis: The robotics toolbox for MATLAB[C]//National Conference of the Australian Robot Association. 1995: 319-330.
  • 9Mariottini G L, Prattichizzo D. EGT for multiple view geometry and visual servoing: Robotics vision with pinhole and panoramic cameras[J]. IEEE Robotics and Automation Magazine, 2005, 12(4): 26-39.

二级参考文献18

共引文献12

同被引文献23

  • 1Thuilot B, Martinet E Cordesses L, et al. Position based visual servoing: Keeping the object in the field of vision[C]//IEEE International Conference on Robotics and Automation. Piscat- away, NJ, USA: IEEE, 2002: 1624-1629.
  • 2Chesi G, Hashimoto K, Prattichizzo D, et al. Keeping features in the field of view in eye-in-hand visual servoing: A switch- ing approach[J]. IEEE Transactions on Robotics, 2004, 20(5): 908-913.
  • 3Mansard N, Chaumette E A new redundancy formalism for avoidance in visual servoing[C]//IEEE/RSJ International Con- ference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2005: 1694-1700.
  • 4Hashimoto K, Noritsugu T. Potential switching control in visual servo[C]//IEEE International Conference on Robotics and Au- tomation. Piscataway, NJ, USA: IEEE, 2000: 2765-2770.
  • 5Leonard S, Croft E A, Little J J. Dynamic visibility checking for vision-based motion planning[C]/flEEE International Con- ference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2008: 2283-2288.
  • 6Michel P, Scheurer C, Kuffner J, et al. Planning for robust execution of humanoid motions using future perceptive ca- pability[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2007: 3223- 3228.
  • 7Chesi G, Hung Y.S. Global path-planning for constrained and optimal visual servoing[J]. IEEE Transactions on Robotics, 2007, 23(5): 1050-1060.
  • 8Allotta B, Fioravanti D. 3D motion planning for image-based visual servoing tasks[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2005: 2173-2178.
  • 9Kazemi M, Gupta K, Mehrandezh M. Global path planning for robust visual servoing in complex environments[C]//IEEE Inter- national Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2009: 326-332.
  • 10Kazemi M, Mehrandezh M, Gupta K. Kinodynamic plan- ning for visual servoing[C]//IEEE Intemational Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2011: 2478-2484.

引证文献2

二级引证文献4

机器人
2011年 第6期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部