NASA研制新型舱外航天服.pdf

第5期 王明明 等：基于人工神经网络的遥操作预测仿真 ResearchonPredictiveSimulationofTeleoperationBased onArtificialNeuralNetwork WANG Mingming，LIShiqi，ZHUW enge，LUYafu (DepartmentofIndustrialEngineering，HuazhongUniversityofScienceandTechnology， Wuhan430074，China) Abstract：Internettimedelayisthe key inherentproblem in teleoperation system．To reduce theuncertainty oftimedelay existing in internetteleoperation，a predictivesimulation approach based on artificial neuralnetwork isproposed． Accordingtomastercommandandslavefeed-back，teleoperationsystem predictsthestateoftherobotanddisplaysin three-dimensionalsimulationsystem．Experimentalresultsdemonstratethefeasibilityandvalidityofthisapproach． Keywords：Teleoperation；PredictiveSimulation；ArtificialNeuralNetwork (上接第7O页) TeleoperationwithForceFeedbackBasedonFuzzySystem WANGYuji，YUANMingyi，SUNFuchun，LIUHuaping (TsinghuaNationalLaboratoryforInformationSciencenadTechnology，StateKeyLaboratoryofIntelligentTechnologyand Systems，DepartmentofComputerScienceandTechnology，TsinghuaUniversity，Beijing100084，China) Abstract：Inordertoimprovetheperformanceoftheforcefeedbackinateleoperationsystem ，anovelforcefeedbackcontroller withfuzzysystemisdesigned，whichisbasedonthedistancebetweentheslavemanipulatorandhtetargetobjector theobstacles，aswellasthemotionvelocityoftheslavemanipulator．Theproposedcontrolschemeisvalidatedon a groundteleoperationexperimentsystem．Resultsshowthatappropriateforcefeedbackcanbeobtainedintheprocessof theslavemanipulatormovingclosetohteobjectandgraspingit．Thecontrolstrategyisaneffectivemethodforthe0p— eratortosecurelyaccomplishtheteleoperationmission． Keywords：Teleoperation；ForceFeedback；FuzzySystem N