摘 要
遙操作機器人系統(tǒng)是指在人的操縱下，使用遠端機器人來代替人從事難以接近或?qū)θ擞泻Νh(huán)境下任務(wù)的一種遠距離操縱系統(tǒng)。已被廣泛運用于深海探測、空間探索、核工業(yè)等多個領(lǐng)域，而基于Internet的遙操作機器人系統(tǒng)更是以其低成本、通用性得到了廣泛的研究與發(fā)展。
但是遙操作機器人系統(tǒng)在保證操作者安全性和提高工作效率的同時，嚴重的不足也暴露出來了，因為其通訊環(huán)節(jié)勢必會產(chǎn)生時延，而時延的存在又會影響遙操作機器人系統(tǒng)的可操作性，甚至導(dǎo)致系統(tǒng)不穩(wěn)定。Internet 引起的時延更是具有隨機性、不可預(yù)測性等特點。針對這個問題，本文主要做了以下幾個方面的工作：
1、 在基于Internet遙操作機器人系統(tǒng)中，Internet 引起的變時延問題是影響系統(tǒng)可操作性與穩(wěn)定性的關(guān)鍵性問題。本文針對 Internet 通信結(jié)構(gòu)與網(wǎng)絡(luò)協(xié)議進行了分析，同時研究了其網(wǎng)絡(luò)傳輸時延的特性，介紹了數(shù)據(jù)包丟失的處理方法。
2、 建立了系統(tǒng)的動力學模型及二端口網(wǎng)絡(luò)模型，研究了波變量轉(zhuǎn)換方法及其特性，分析了基于波變換的遙操作機器人系統(tǒng)在定時延、變時延條件下的無源性與有源性，并針對變時延會增加系統(tǒng)通訊通道能量致使系統(tǒng)不穩(wěn)定的問題，采取了加校正器來使系統(tǒng)恢復(fù)無源性的方法，最后通過仿真實驗驗證了該方法的有效性。
3、研究了四通道結(jié)構(gòu)的特點，并針對基于波變換方法系統(tǒng)透明性較差，而基于四通道結(jié)構(gòu)系統(tǒng)無源性又得不到保障的情況，采取了將波變換與四通道結(jié)構(gòu)相結(jié)合的波域四通道結(jié)構(gòu)的方法，同時對基于該方法的定時延、變時延系統(tǒng)的穩(wěn)定性與透明性進行了分析。最后針對通訊通道中存在的波反射現(xiàn)象，設(shè)計了相應(yīng)的濾波器。同樣通過仿真實驗驗證了，該方法能夠使得系統(tǒng)具有良好的穩(wěn)定性與透明性。
4、闡述了透明性量化分析的重要性，分析了Yokokohji透明性量化分析方法，并利用其對基于波變換與基于波域四通道結(jié)構(gòu)的遙操作機器人系統(tǒng)的透明性分別進行了量化，最后對兩者的量化結(jié)果進行了分析對比。

關(guān)鍵詞 遙操作機器人；Internet；波變換；波域四通道結(jié)構(gòu)；透明性





































Abstract
Tele-robot is a long-distance operating system which can do very complex task in harmful environment under the people’s supervision. It has been applied to many areas, such as deep ocean detecting, the space exploration and the nuclear industry and so on. And the teleoperation system based on Internet has been also extensive research and development because of its low cost and universality.
While teleoperation systems guaranted that the operator safety and enhancement working efficiency, they suffer from serious problems resulting from the communication link which will bring on time-delay inevitably, the time-delay will cause the system to not work normally and be unstably. What’s more, the time-delay which Internet causes is random and not predective. To solve the problem, the main work of this paper are as follows:
Firstly, in the teleoperation system based on Internet, the time-delay which Internet causes is always the key issue that influences the system’s maneuverability and stability. The Internet structure and protocol was analyzed in this paper, and researched its time-delay characteristics, introduced the process of packets lost.
Secondly, the remote operating system’s kinetic model and two-port network model were established, then the wave transformation stucture and its characteristics were studyed. In this article, under the constant or varying time delay in the communication channel, the wave-based teleoperation system’s passive reason was analyzed. And because the delay increased the energy of the communication channel and caused the system unstable, two crrectors were adopted to restore system passivity. At last, the effectiveness of the control algorithm was showed through simulation.
Thirdly, the four channel contol structure was investigated, then in order to improve transparency of the wave-based telerobot system and warrant the passivity of the four channel control structure system, a new method wave-based four channel control structure was adopted in the paper, and whose stability and transparency was analyzed under different time-delay. A filter was used to reduce the impact of wave reflection which existed in the communication channel. At last, the effectiveness of this control algorithm was also showed through simulation, and the simulation validate that good performance was achieved.
Finally, the importance of transparency quantizing analysis was proposed, and analyzed the Yokokohji’s method of transparency quantizing analysis, base on which the wave-based teleoperation system’s transparency was quantized, so did the wave-based four channel system. Then their results were compared and analyzed.

Key words teleoperation; Internet; wave transformation; wave-based four channel; transparency
















目 錄
摘 要 I
Abstract III
第1章 緒論 1
1.1 研究背景及意義 1
1.1.1遙操作機器人系統(tǒng)的概述 1
1.1.2 遙操作機器人研究目的與意義 2
1.2 遙操作機器人研究現(xiàn)狀 2
1.2.1預(yù)測控制 3
1.2.2 遠程規(guī)劃 3
1.2.3 雙邊控制 4
1.2.4 基于Internet的遙操作機器人 7
1.3 存在問題 8
1.4 本文主要工作 8
第2..