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为了降低遥操作系统对网络带宽的需求,实现系统中计算、通信等功能的合理划分,提出了基于运动描述语言(MDL)的机器人网络遥操作系统控制方法.利用机器人运动轨迹正交分解的方法得到了运动基元模型中的开环与闭环控制参数,保证了MDL的描述能力,并针对遥操作抓取任务定义了4类运动基元.以Phantom Omni为主端控制器、Motoman 6自由度机器人为被控对象建立了基于网络的机器人遥操作系统,并针对直接控制方法和基于MDL的控制方法进行了对比实验,实验结果验证了该方法的可行性与有效性.
In order to reduce the requirement of teleoperation system for network bandwidth and achieve the reasonable division of computing and communication functions in the system, this paper proposes a robot network teleoperation system control method based on Motion Description Language (MDL). By using orthogonal decomposition of robot trajectory, The open-loop and closed-loop control parameters in the kinematic primitive model are obtained, which ensure the description ability of MDL and define four types of motions for remote operation.With Phantom Omni as the master controller, Motoman 6 DOF The robot establishes a network-based robot teleoperation system for the controlled object, and compares the direct control method with the MDL-based control method. The experimental results verify the feasibility and effectiveness of the method.