...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Industrial Robot >Analysis of the effects of time delays on the teleoperation of a mobile robot in various modes of operation
【24h】

Analysis of the effects of time delays on the teleoperation of a mobile robot in various modes of operation

机译：在各种操作模式下，时间延迟对移动机器人遥操作的影响分析

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Purpose - The purpose of this paper is to investigate the effect of time delay on the ability of a human operator to complete a task with a teleoperated mobile-robot using two systems, two different ways of interacting with the mobile-robots and several different environments. Design/methodology/approach - Teleoperators are observed completing a series of tasks using a joystick to control a mobile-robot while time delays are introduced to the system. They sit at a computer and view scenes remotely on a screen. Cameras are either mounted on the robot or mounted externally so that they view both the environment and robot. Teleoperators complete the tests both with and without sensors. One robot system uses an umbilical cable and one uses a radio link. Findings - In simple environments, a teleoperator may perform better without a sensor system to assist them but as time delays are introduced then there are more failures. In more complicated environments or when time delays are longer, then teleoperators perform better with a sensor system to assist. Teleoperators may also tend to perform better with a radio link than with an umbilical connection. Research limitations/implications - Teleoperated systems rely heavily on visual feedback and experienced operators. This paper investigates the effect of introducing a delay to the delivery of that visual feedback. Practical implications - The paper suggests that in simple environments with short time delays then the amount of sensor support should be small but in more complicated environments or with longer delays then more sensor support needs to be provided. Originality/value - Results from imposing time delays on a teleoperated mobile-robot are presented. Effects on the task of different ways of viewing activity on a computer display are presented, that is with cameras mounted on the robot or cameras mounted externally to view both the environment and robot. Results from using sensors to assist teleoperators are presented. The paper suggests that the amount of sensor support should be varied depending on circumstances.
机译：目的-本文的目的是研究时间延迟对操作员使用两个系统，两种不同的与移动机器人进行交互的方式与远程移动机器人完成任务的能力的影响。 。设计/方法/方法-观察到远程操作员使用操纵杆控制移动机器人完成一系列任务，同时将时间延迟引入系统。他们坐在计算机旁，并在屏幕上远程查看场景。摄像机可以安装在机器人上，也可以安装在外部，这样既可以观察环境，也可以观察机器人。远程操作员可在有传感器和无传感器的情况下完成测试。一种机器人系统使用一条脐带电缆，而另一种则使用一条无线电链路。发现-在简单的环境中，如果没有传感器系统来协助他们，远程操作员的性能可能会更好，但是由于引入了时间延迟，因此出现更多的故障。在更复杂的环境中或时延较长的情况下，远程操作员在传感器系统的协助下性能会更好。远程操作员在无线电链路上的性能可能也往往好于脐带连接。研究局限性/意义-远程操作系统严重依赖视觉反馈和经验丰富的操作员。本文研究了为视觉反馈的传递引入延迟的效果。实际意义-该论文建议，在简单的，具有短时间延迟的环境中，传感器的支持量应该很小，但在更复杂的环境中或具有较长的延迟，则需要提供更多的传感器支持。原创性/价值-展示了在遥控移动机器人上施加时间延迟的结果。呈现了在计算机显示器上以不同方式查看活动的方式对任务的影响，即安装在机器人上的摄像机或安装在外部以查看环境和机器人的摄像机。给出了使用传感器协助远程操作员的结果。该文件建议应根据情况改变传感器支撑的数量。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号