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以模块化主从机器人为研究对象,提出5种基本的运动学映射——PO3映射、O3映射、P3映射、p O3映射与Po3映射,和一种由5种基本映射组成映射序列的遥操作任务实现方法.由5种基本映射组成映射序列是一种通用的遥操作任务实现方法,能应用于绝大部分同构或异构的遥操作系统.此外,对由操作者、主机器人、从机器人和任务对象组成的全闭环控制回路作了分析,着重剖析操作者在控制回路中的正、负双面作用——高智能决策与误差引入.最后,以仿生攀爬机器人夹取球体、抓夹圆杆和方形杆为3种代表性任务,建模、仿真及验证了所提出的遥操作实现方法在操作者正、负双面作用下的可行性,实现的效果既反映了完成遥操作任务的往复过程,也展示了本映射方法的对单个任务的可行性和对多种任务的适应性.
Taking the modularized master-slave robot as the research object, five kinds of basic kinematic mappings such as PO3 mapping, O3 mapping, P3 mapping, p O3 mapping and Po3 mapping, and a kind of remote operation consisting of five kinds of basic mappings Task realization method.The mapping sequence composed of five basic mappings is a universal teleoperation method and can be applied to most isomorphic or remote teleoperation systems.In addition, Robot and mission object are analyzed, focusing on the positive and negative double-side effects of the operator in the control loop - high intelligent decision-making and error introduction.Finally, taking the bionic robot to grip the sphere, Trim rod and square rod are three kinds of representative tasks, modeling, simulation and verification of the proposed teleoperation in the positive and negative operator’s feasibility under the action of the two sides, the effect achieved not only reflects the completion of the remote operation The reciprocating process of the task also shows the feasibility of the mapping method for a single task and the adaptability to various tasks.