[1]臧希喆,赵杰,蔡鹤皋,等.面向网络遥操作的多传感器集成手爪的设计[J].南京理工大学学报(自然科学版),2006,(01):38-42.
 ZANG Xi-zhe,ZHAO Jie,CAI He-gao.Design of Multisensory Gripper for Internet-based Teleoperation[J].Journal of Nanjing University of Science and Technology,2006,(01):38-42.
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面向网络遥操作的多传感器集成手爪的设计
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2006年01期
页码:
38-42
栏目:
出版日期:
2006-02-28

文章信息/Info

Title:
Design of Multisensory Gripper for Internet-based Teleoperation
作者:
臧希喆;赵杰;蔡鹤皋;
哈尔滨工业大学机器人研究所, 黑龙江哈尔滨150001
Author(s):
ZANG Xi-zheZHAO JieCAI He-gao
Robotics Institute,Harbin Institute of Technology,Harbin 150001,China
关键词:
遥操作 多传感器集成手爪 数据融合 支持向量机 CAN 总线
Keywords:
teleoperationmultisensory integration grippers data fusion support vector machine CAN bus
分类号:
TP242
摘要:
以网络遥操作为应用背景,设计了一种分层的多传感器集成手爪。设计中首先提出了包含了数据采集层、数据处理层、网络交互层等三个层次的手爪体系结构。然后提出了基于支持向量机的融合算法,并结合CAN总线等技术对手爪系统进行了逐层设计,使其具有模块化、智能化等特点。还搭建了多传感器集成手爪实验系统,完成了基于多传感器集成手爪的网络遥操作作业。实验结果表明:该手爪具有较强的局部自主能力,并有效提高了网络遥操作系统的作业能力。
Abstract:
A layeredmultisensory integration gripper is designed for interne-t based teleoperation. During the process of design, the gripper architecture is developed, which includes data acquisition layer, data process layer and network interface layer. A suppor-t vector-machine-based data fusion algorithm is proposed. Combined with other technologies such as CAN bus, all layers of gripper system are finished, endowing the gripper with characteristics including modularization and high intelligence. A gripper test bed is also built on which the interne-t based teleoperation jobs is based are achieved. The experimental results show that the gripper system has a good ability of loca-l autonomy and can improve the operation capability of interne-t based teleoperation system effectively.

参考文献/References:

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备注/Memo

备注/Memo:
作者简介: 臧希吉吉( 1975- ) , 男, 黑龙江哈尔滨人, 博士生, 主要研究方向: 数据融合, 遥操作技术, E-mail: zangx izhe @ hit. edu. cn; 通讯作者: 赵杰( 1968- ) , 男, 河北卢龙人, 博士生导师, 主要研究方向: 机器人控制, 遥操 作技术, E-mail: jzhao@hit. edu. cn。
更新日期/Last Update: 2006-02-28