一種低成本試驗(yàn)遙控機(jī)器人系統(tǒng)外文文獻(xiàn)翻譯、中英文翻譯、外文翻譯

1、ALowCostExperimentalTeleroboticSystemsA.ZaatriMechanicalDepartmentLaboratoryUniversityMentouriofConstantine,AlgeriaThispaperpresentsthedevelopmentofalowcostexperimentalteleroboticsystembuiltupwithlocalmeansinanemergingcountry(Algeria).Fromaremotesite,awebcamsendsimagesofarobotmanipulatorthroughInter

2、nettothecontrolsitewhereahumanoperatorremotelymonitorsthisrobotinordertoachievepick-and-placetasks.Somecontrolmodeshavebeenimplementedandtestedsuchasmouse-click,image-basedandgesture-basedmodes.Veryencouragingpedagogicalresultshavebeenobtainedinthisattractiveandcomplexfieldofmoderntechnology.1. Intr

3、oductionIndevelopingcountries,veryhardconstraintsanddifficultiesareimposedtostudentsandresearchersleadingusuallytoinadequatepedagogicresults,especiallywhenattemptingtolearnandexperimentcomplexmodernsystems.Theseconstraintsmaystemfromthelackofeconomicalbudgets,fromabureaucraticdiscouragingenvironment

4、,fromamismachbetweenuniversityandindustry,etc.Oneinterestingandchallengingfieldtoinvestigateandtoexperimentbystudentsinemergingcountriesconcernsthedesignofmoderntechnologyapplicationssuchasthedevelopmentoflowcostexperimentalteleroboticsystems.Indeed,thishelpstounderstandandmasterhowtocombinebothengi

5、neeringandinformationtechnologiesinordertobuiltcomplexsystems.Inthiscontext,somepedagogicteleroboticsystemsareavailablethroughInternetsuchasthemobilerobotXavier1,andthewebrobotABBofAustralia2.However,asfarasweknow,noneareavailableindevelopingcountries.Therefore,tointroducethischallengingtechnology,a

6、didacticprogramhasbeenlaunchedbasedonthefollowingsteps:-builduprobotarmmanipulators.-buildupapantiltunit(ptu)forcontrollingawebcamorientation.-implementrobotcontrolsoftware-implementthecommunicationsoftwareviainternetconnectingtherobotsiteandtheoperatorsite.-implementandtestremotelysomecontrolmodes.

7、2. TheExperimentalTeleroboticSystemTheteleroboticsystemiscomposed,attheremotesite,ofarobotarmmanipulatorandofaptutocontroltheorientationofawebcam.Boththeroboticarmmanipulatorandtheptuhavebeendesignedandbuiltinourlaboratory.ThearmmanipulatorisaserialrobotofthreedegreesoffreedomoftypeRRR.Itholdsagripp

8、er.Theptuenableshorizontalandverticalorientations.ThearticulationsaremotorisedwithveryeconomicalDCmotors.Figure1showstheptuholdingthewebcamaswellastherobotarmmanipulator.Again,theelectroniccommandunitforrobotcontrolareimplementedinourlaboratorywithverycheapcomponents.Figure1.Theteleroboticremotesyst

9、emSincethereisnohardwareforsignalacquisitionthatisavailableatthisstage,theelectroniccommandunitusessimplytheparallelportsofthePCtoselectandactivatetheDCmotorsinanon-offway.OnthelocalsitestandsthehumanoperatorwhoremotelydirectsthetasksviaaGraphicalUserInterface(GUI).ThisGUIisdesignedaccordingtouser-c

10、entreddesign.Itprovidesfacilitiestoremotelycontrolboththerobotarmmanipulatorandthepan-tiltunitforselectingviews.Mouseclickbasedcontrol,imagebasedcontrol,andgesturebasedcontrolhavebeenimplementedandtested.Figure2showstheoperatoratthelocalsiteandthevideostreamthatenablestocarryouttasks.Figure2.Thetele

11、roboticlocalsiteTwoPCsareused,oneatthelocalsiteandthesecondattheremotesite.TheinterconnectionbetweenthesesitesisbasedontheTCP/IPsockets.ThesoftwareismainlywritteninJavawhilesomelowlevelfunctionsarewrittenwithC.Foreconomicalreasons,wehaveactuallyonlyimplementedthedirectgeometricalmodelandtheinversege

12、ometricalmodel.Ofcourse,thesystemisnotaccuratesincethesemodelsdonottakeintoaccountthegravityeffectandthereisnofeedback.Nevertheless,thesesimplemodelsenabletoachievesomepick-and-placetasks.3. ControlModesToremotelyachievetasks,wehaveimplementedthefollowingthreecontrolmodes.3.1. MouseclickcommandsThem

13、ouseclickcontrolmodeenablesthecontroloftherobotaswellastheptubyusingsimplemouseclicksonsomeappropriatebuttonsofapanel.Eachbuttonrepresentsaspecificfunctionoraspecificdirectionofmotion.TheframesshowedinFigure3showsthecontrolpanelsofthearmmanipulatorandoftheptu.CONNECTIOHCAMERAFigure4.Therobotperformi

14、ngataskNOfiD.*t：?TIE和&JDFigure3.ControlPanels(robotandptu)Toachievetaskswiththismode,theoperatordirectstherobotbyaseriesofclicksontheappropriatebuttons.3.2. ImageBasedCommandsImage-basedcontrolmodeenableshighlevelcontrol.Withinthismode,theoperatordirectstherobottowardslocationsin2Dor3Dspacebyonl

15、ypointingontheirimagesbymeansofamouseclicks3.ThismodehasalsobeenusedtocontrolMarskhodrobot4.3.3. GesturecommandsTheoperatorstandsinfrontofthewebcamandmovesanobjectinacertaindirection.AnalgorithmusingtheKLTtracker5determinesthedirectionofthemotionthatservestoorienttherobotinthecorrespondingdirection.

16、4. ExperimentsVariousexperimentshavebeencarriedoutinvolvingthedescribedcontrolmodes.4.1. Mouse-clickcontrolexperimentsWithinthiscontrolmode,theoperatorcancarryoutpick-and-placetaskssuchaspickaboxfromaboveatableandplaceitatanotherlocation.Inpractice,theoperatormanagesthetaskbyclickingonselectedbutton

17、softhegraphicalpanelinordertodirecttherobottowardstheobjectofinterest.Oncetheend-effectorispositionednearthatbox,theoperatoractivatesthegripperforpickingthisobject.Then,theoperatormovestherobottowardsthepositionwheretheboxhastobeleft.Oncethispositionisreached,theoperatordeactivatesthegripperinordert

18、oreleasethebox.Figure4illustratesourexperimentalrobotperformingapick-and-placetask.Manyexperimentshavebeencarriedoutwithdifferentstudents.Itturnsoutthatthismodeisintuitiveandveryeasytolearn.Ontheotherhand,difficultiesarisefromthefactthattheoperatorhastodirecttasksbycontrollingeachdegreeoffreedominde

19、pendently.Onemainadvantageisthattheoperatorcompensatestheincertaintiesandtherobotunaccuracy.4.2. Image-basedcontrolexperimentsManyexperimentshavebeencarriedoutusingtheimage-basedcontrol.Practically,thiscontrolmodeisusedtosendtherobottosomelocation.First,animageoftheremotesiteisgrabbed.Then,theoperat

20、orselectsanobjectofinterest.Thestreovisionsoftwareextractsthecoordinatesofthisobjectwhichareusedtomovetherobottowardstheobjectintherealworld.Inpractice,unaccuracyhavenegativelyinfluencedourresultsbecauseofthemodelsimplicity,thelackoffeedback,thecalibrationofcheapwebcams.Asaconsequence,theimplementat

21、ionofimage_basedin2Dspacehaveprovidedbetterresultswithcomparisonofthatof3Dspace.4.3. Gesture-basedcontrolExperimentsExperimentshavebeencarriedoutwithinthiscontrolmode.Theoperatorgeneratesaseriesofmovementsindifferentdirections.Thesoftwareanalysestheimagestreamandmovestherobotinthecorrespondingdirect

22、ions.Thiscontrolmodeofferstheadvantageofbeingwithoutcontactoftheoperatorwiththecomputer.Anotheradvantageisthepossibilityofusingthistechniqueforrobotprogrammingbyhumandemonstration.Nevertheless,somedifficultieswhicharerelatedtoimageprocessingandenvironmentissueslimitthecapabilityofthiscontrolmode.5.

23、ConclusionAlowcostpedagogicexperimentalteleroboticsystembuiltupinourlaboratoryhaseffectivelybeenusedtocarryoutsimplepick-and-placeexperiments.Wehaveimplementedandtestedthreecontrolmodesnamelymouse-click-basedcontrol,image-basedcontrolandgesture-basedcontrol.Experimentshasshownthatthemainissueremains

24、thepooraccuracyoftheteleroboticsystem.Thisissuecanbeovercomedbyaddingsomeequipmentsuchasaccuratemotorsandcameras,byimplementingdynamicalrobotmodelsandbyusingfeedbackcontrol.Oneimportantaddedvalueistocombinethesemodesinordertobuildamultimodalinterface.References1 R.Simmonsetal,“Xavier:anautonomousmob

25、ilerobotontheweb"RoboticAutomationMagasine,2000,pp.733-739.2 B.Dalton,“Techniquesforwebteleroboticsdepartmentofmechanicalandmaterialengineering.UniversityofWesternAustralia,2001.3 A.ZaatriandM.Oussalah,aIntegrationanddesignofmultimodalinterfasupeDvisorycontrolsystems”,Informationfusijournal,200

26、3,4(2),pp.135-1504 D.Wettergreen,H.ThomasandM.Bualat,aInitialresultsfromvision-basedcontroloftheAmesMarsokhodrover“IEEEInternationalConferenceonintelligentrobotsandsystems,Grenoble,sep1997.5 B.D.LucasandT.Kanade,“AnIterativeImageRegistrationTechniquewithanApplicationtoStereoVision”,InternationalJoin

27、tConferenceonArtificialIntelligence,1981,pages6749.一種低成本實(shí)驗(yàn)遙控機(jī)器人系統(tǒng)A.Zaatri阿爾及利亞君士坦丁門圖大學(xué)機(jī)械系實(shí)驗(yàn)室摘要本文介紹了由新興國(guó)家（阿爾及利亞）采用當(dāng)?shù)胤椒ń⒌囊环N低成本實(shí)驗(yàn)遙控機(jī)器人系統(tǒng)的發(fā)展。從長(zhǎng)遠(yuǎn)看，人工操作者將使用攝像頭，借助互聯(lián)網(wǎng)把圖片傳送給機(jī)械手，通過(guò)遠(yuǎn)程控制實(shí)現(xiàn)這個(gè)機(jī)械手選擇或放置的任務(wù)。一些控制模式已經(jīng)被應(yīng)用或試驗(yàn)，如鼠標(biāo)點(diǎn)擊模式，基于圖像的模式和基于形體的模式。在這個(gè)充滿吸引力且十分復(fù)雜的現(xiàn)代技術(shù)領(lǐng)域已經(jīng)取得了非常令人鼓舞的成果。1 .導(dǎo)言在發(fā)展中國(guó)家，由于受到非常多的困難和制約因素，學(xué)生和前沿研

28、究人員通常只能得到不完整的教學(xué)實(shí)驗(yàn)成果，尤其是在嘗試學(xué)習(xí)和試驗(yàn)復(fù)雜的現(xiàn)代系統(tǒng)時(shí)。這些制約因素可能源于經(jīng)濟(jì)預(yù)算的不足，或者政府官員的不支持政策，以及大學(xué)與工業(yè)領(lǐng)域的脫軌，等等。在新興國(guó)家，學(xué)生就設(shè)計(jì)現(xiàn)代技術(shù)的申請(qǐng)做了一個(gè)有趣并具有挑戰(zhàn)性的實(shí)地調(diào)查和實(shí)驗(yàn)，如低成本實(shí)驗(yàn)遙控機(jī)器人系統(tǒng)。事實(shí)上，這有助于理解和掌握如何結(jié)合工程與信息技術(shù)來(lái)建立復(fù)雜的系統(tǒng)。在這種情況下，通過(guò)互聯(lián)網(wǎng)可以利用到一些教學(xué)用的遙控機(jī)器人系統(tǒng)，如移動(dòng)機(jī)器人Xavier1,以及澳大利亞ABB公司的網(wǎng)絡(luò)機(jī)器人2。但是，據(jù)我們所知，在發(fā)展中國(guó)家這些機(jī)器人沒有一個(gè)可利用。因此，為介紹這項(xiàng)具有挑戰(zhàn)性的技術(shù)作了教學(xué)計(jì)劃，基本步驟如下所示： 建立

29、機(jī)器人手臂。建立一個(gè)機(jī)動(dòng)機(jī)構(gòu)（ptu）來(lái)控制攝像頭的方向。 使用機(jī)器人控制軟件。 使用通信軟件，通過(guò)互聯(lián)網(wǎng)連通機(jī)器人站點(diǎn)和人工操作者站點(diǎn)。 應(yīng)用和試驗(yàn)一些遠(yuǎn)程控制模式。2 .實(shí)驗(yàn)遙控機(jī)器人系統(tǒng)這個(gè)遙控機(jī)器人系統(tǒng)完成后，在遠(yuǎn)程站點(diǎn)，由一個(gè)機(jī)器人手臂或一個(gè)機(jī)動(dòng)機(jī)構(gòu)來(lái)控制攝像頭的方向。這個(gè)機(jī)器人手臂或這個(gè)機(jī)動(dòng)機(jī)構(gòu)均已在我們實(shí)驗(yàn)室設(shè)計(jì)并建造出來(lái)。這個(gè)機(jī)器人手臂是一個(gè)三自由度型的串行系統(tǒng)機(jī)器人。它擁有一個(gè)爪子。這個(gè)機(jī)動(dòng)機(jī)構(gòu)能使攝像頭在水平方向和垂直方向運(yùn)動(dòng)。關(guān)節(jié)由一個(gè)特殊的經(jīng)濟(jì)型直流電機(jī)驅(qū)動(dòng)。圖1顯示了機(jī)動(dòng)機(jī)構(gòu)控制攝像頭以及機(jī)械臂操縱攝像頭的情況。另外，在我們實(shí)驗(yàn)室，使用了非常便宜的組件來(lái)實(shí)現(xiàn)電子指令系

30、統(tǒng)對(duì)機(jī)器人的控制。圖1:遠(yuǎn)程遙控機(jī)器人系統(tǒng)在現(xiàn)階段由于沒有可用的硬件來(lái)采集信號(hào),擇和激活直流電機(jī)的開和關(guān)狀態(tài)。電子指令系統(tǒng)只能使用電腦的并行端口來(lái)選另外,圖2顯示在本地站點(diǎn)，人工操作者通過(guò)圖形用戶界面（GUI）遠(yuǎn)程指揮任務(wù)。這個(gè)用戶界面的設(shè)計(jì)是以用戶為中心設(shè)計(jì)的。它提供遠(yuǎn)程控制機(jī)械臂操縱和機(jī)動(dòng)機(jī)構(gòu)選擇觀察點(diǎn)的設(shè)施?；谑髽?biāo)點(diǎn)擊的控制，基于圖像的控制，基于形體的控制也已經(jīng)得到應(yīng)用和試驗(yàn)。了人工操作者在本地站點(diǎn)操作控制，右圖視頻上顯示機(jī)械臂在執(zhí)行任務(wù)。圖2:遙控機(jī)器人本地站點(diǎn)使用兩臺(tái)電腦，一臺(tái)在本地站點(diǎn)和另一臺(tái)在遠(yuǎn)程站點(diǎn)。這些站點(diǎn)之間的互連是基于TCP/IP插口。該軟件主要是用Java編寫的，其中

31、一些低層次的功能是用C語(yǔ)言編寫的。由于經(jīng)濟(jì)方面的原因，我們事實(shí)上只使用了直接幾何模型和逆幾何模型。當(dāng)然，這個(gè)系統(tǒng)是不準(zhǔn)確的，因?yàn)檫@些模型沒有考慮重力的影響，也沒有任何反饋。不過(guò)，這些簡(jiǎn)單的模型能夠?qū)崿F(xiàn)機(jī)器人完成一些選擇或放置的任務(wù)。3 .控制模式為了實(shí)現(xiàn)遠(yuǎn)程執(zhí)行任務(wù)，我們使用了以下三種控制模式。3.1 鼠標(biāo)點(diǎn)擊命令鼠標(biāo)點(diǎn)擊控制模式使機(jī)器人的控制可以通過(guò)鼠標(biāo)簡(jiǎn)單地點(diǎn)擊一些合適的按鈕來(lái)控制機(jī)器人或機(jī)動(dòng)機(jī)構(gòu)。每個(gè)按鈕代表了一個(gè)特定的功能或特定的運(yùn)動(dòng)方向。如圖3所示的表框顯示了機(jī)器人手臂和機(jī)動(dòng)機(jī)構(gòu)的控制面板。圖3:控制面板（機(jī)器人手臂和機(jī)動(dòng)機(jī)構(gòu)）在這種模式下執(zhí)行任務(wù)，操作者只要按特定順序點(diǎn)擊相應(yīng)的按鈕

32、來(lái)控制機(jī)器人。3.2 基于圖像的命令基于圖像的控制模式能夠?qū)崿F(xiàn)高層次的控制。在這一模式下，操作者只要在他們的圖像上通過(guò)鼠標(biāo)點(diǎn)擊的方式點(diǎn)擊機(jī)器人所在二維或三維空間的位置來(lái)控制它。這種模式曾被用來(lái)控制機(jī)器人Marskhod4。3.3形體命令操作者站在攝像頭前然后按照某個(gè)確定的方向移動(dòng)一個(gè)物體。使用KLT跟蹤算法5來(lái)決定運(yùn)動(dòng)方向，實(shí)現(xiàn)在相應(yīng)方向上機(jī)器人的確定運(yùn)動(dòng)。4 .實(shí)驗(yàn)我們已經(jīng)進(jìn)行了各種相關(guān)實(shí)驗(yàn)來(lái)描述這個(gè)控制模式。4.1 鼠標(biāo)點(diǎn)擊控制的實(shí)驗(yàn)在這個(gè)控制模式下，操作者可以實(shí)現(xiàn)機(jī)器人選擇和放置的任務(wù)，如拿起桌子上的一個(gè)表箱或者把它搬放到到另一位置。在實(shí)踐中，操作者通過(guò)點(diǎn)擊圖形面板上的選擇按鈕來(lái)控制機(jī)器人去自己所想的任何地方。只要最終地點(diǎn)是箱子附近的位置，操作者就能驅(qū)動(dòng)夾鉗來(lái)拿起這個(gè)箱子。然后，操作者操縱機(jī)器人移動(dòng)到箱子需要放置的位置。只要到達(dá)了指定地點(diǎn)，操作者操縱機(jī)器人松開夾鉗，放下這個(gè)箱子。圖4顯示了我們的實(shí)驗(yàn)機(jī)器人演示選擇或放置的任務(wù)。圖4:該機(jī)器人正在演示任務(wù)很多不同的學(xué)生進(jìn)行過(guò)