挖掘机器人遥操作的实现
Realization of Remote Control Scheme for Excavator Robot

针对现有半自主遥控挖掘机器人存在的不足,提出一种基于动作的挖掘机器人遥操作控制方案。首先在综合论述该遥操作系统控制原理基础上,重点阐述了挖掘机各工作装置遥操作的实现,并搭建基于动作的挖掘机器人遥操作实验平台进行实验验证。结果表明:该遥操作系统不仅设备简单轻便,操作灵活,而且主-从端跟随性能良好,能达到挖掘机遥操作作业的基本要求,为挖掘机器人遥操作系统的开发与设计提供参考。
Aiming at the shortages of existing semi-autonomous excavator robot, a remote control scheme based on actions is proposed in this paper. On the basis of the comprehensive discussion of remote control theory, the realization of the remote control scheme for excavator is stated, and a platform has been built to verify the control scheme based on actions. The results and their analysis show preliminarly that the remote control system is not only lightweight in equipment, flexible in operating and has a good performance in tracking master-slave end. It can meet the basic requirement of remote operation of excavator, providing a reference for the development and design of excavator remote control system