避免误操作的遥协作模糊控制方法

现有的遥操作系统中普遍存在的问题是受环境、心理、生理等影响,操作者在遥操作机器人过程中可能由于误操作产生不可预料的后果.为了解决操作者误操作问题,提出对基于操作者通过选择操作手法得到的模糊操作量和对基于多传感器融合决策产生的模糊控制量采取加权和的遥协作模糊控制方法.以遥操作机械手臂为例,通过单纯由操作者、单纯由多传感器融合决策和遥协作模糊控制3种方法进行实验,验证所提出方法的合理性.

It is the widespread problem that the existing tele-operation system is affected by environment,psychology,physiology and so on,operators could operate robots with unforeseeable consequences as a result of mistaken operation in the control process.To solute the issue of operators′ error,the paper presents a tele-collaboration fuzzy control method based on weighting for fuzzy operation capability by choosing operation technique and fuzzy control capability by multi-sensor fusion decision-making.As tele-operate mechanical arms as an example,the paper makes three experiments respectively from pure operator,multi-sensor fusion decision-making and tele-collaboration fuzzy control.The experimental result indicates the rationality of the method.

国家自然科学基金资助项目(60334010)