【摘要】 遥操作技术的发展趋势是提高机器人的自主性。为实现这一目标 ,提出了一种基于Agent的网络遥操作体系结构 ,分析了Agent结构和功能 ,讨论了各个子系统的功能及相应策略 ,并且提出了系统整体控制策略。Agent可以主动适应环境和理解人的意图 ,从而提高了系统的智能 ,简化了系统结构 ,增强了系统的扩展性和通用性。最后 ,通过空间卫星舱更换晶体生长炉棒料实验进行了验证。更多还原

【Abstract】 Telerobotics will develop towards full autonomy. To fulfil this, an agent based architecture for teleoperation system via Internet is proposed. In this paper, the architecture and functions of the agent are analyzed. Then the functions of sub systems and corresponding strategies are discussed and the control strategies for whole system are addressed. Thus the architecture of the system is simplified while its intelligence, expansibility and universality are enhanced. Finally, the architecture and the control strategies are applied to the intervehicular application which is used to tend the crystalling experiment.更多还原