论文部分内容阅读
美国Lawrence Livemore(LL)联邦实验室的遥控机器人实验室,是一个对机器人控制系统的新概念进行开发和试验的研究单位。目前,该单位正在研究和开发的项目有:计算机视觉、自适应控制、实时软件结构、智能控制、人工神经元网络、模糊逻辑控制器、遥现技术和路径规化及避碰等。该实验室所具有的设备是:一部带有控制器、手爪、力/力矩传感器的六自由度多关节机器人;一个三维CAD工作站,该工作站的软件可对工作环境进行建模以及对机器人进行动力学仿真;一个六自由度的具有力反应的控制球,该球用来向遥控机器人控制器及机器人仿真系统输入控制指令和一套计算机实时操作系统。不久,该实验室还将增加一套三维视觉系统和一部力反馈手控器。本文对目前所进行的开发和研究工作的部分成果做一介绍。
The Robotics Laboratory at the United States Lawrence Livemore (LL) Federal Laboratory is a research and development unit that develops and tests new concepts in robotics systems. At present, the unit is studying and developing projects: computer vision, adaptive control, real-time software architecture, intelligent control, artificial neural network, fuzzy logic controller, telemetry and path planning and collision avoidance. The laboratory has equipment such as a six-degree-of-freedom articulated robot with controller, gripper and force / torque sensors, a three-dimensional CAD workstation with software that models the working environment and the robotics Dynamics simulation; a 6-degree-of-freedom reaction ball that is used to input control commands and a set of computer real-time operating systems to the robot controller and the robotic simulation system. Soon, the lab will also add a 3D vision system and a force feedback hand controller. This article presents some of the current achievements in research and development.