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题名: Motion description and control for a tele-manipulator system based on MDL
作者: Hua JN(化建宁); Li HY(李洪谊); Wang YC(王越超); Xi N(席宁)
作者部门: 机器人学研究室
会议名称: 2011 9th World Congress on Intelligent Control and Automation (WCICA 2011)
会议日期: June 21-25, 2011
会议地点: Taipei, Taiwan
会议录: Proceedings of the 9th World Congress on Intelligent Control and Automation (WCICA 2011)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2011
页码: 677-682
收录类别: EI
ISBN号: 978-1-61284-698-9
关键词: motion description language ; tele-manipulator system ; Internet
摘要: A novel control strategy based on motion description language (MDL) is proposed in this paper, to distribute computational and communication resources in a particular tele-robotic system. On one hand, limited bandwidth, random time delay and other transmission problems of Internet make it necessary to reduce data transferred between master and slave site. On the other hand, remote robotic system has a fairly good autonomy. As a result, it is preferable to transmit high-level discrete commands between master and slave site. In this paper, a symbolic-based control framework based on MDL is put forward and implemented on a tele-manipulator system. Especially, open-loop and closed-loop component are obtained based on the resolved motion method, termination conditions for atoms are acquired from the point of view optimization problem. The obvious characteristic of the new method is that control commands have a linguistic flavor, data transferred between operator and remote robot can be reduced accordingly. A prototype tele-robotic system based on MDL is constructed and the experiment results validate the efficiency of the proposed method.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8790
Appears in Collections:机器人学研究室_会议论文

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