CAJ | 학술논문

以大鼠为例分析了动物机器人遥操作导航控制方法,给出了动物机器人遥操作导航中的关键指令,并对其进行了理论描述.提出了适合于动物机器人遥操作导航的指令方程,并在指令方程中引入了路线偏离量和偏离距离两个关键约束,借助于该指令方程给出了明确的路线修正参数及路线修正方法.本文所提出的动物机器人遥操作导航指令方程为动物机器人遥操作导航控制提供了有效的参考,依据本文所给出的遥操作导航控制方法可以在植入少量电极的基础上有效地实现动物机器人的导航.
이대서위례분석료동물궤기인요조작도항공제방법,급출료동물궤기인요조작도항중적관건지령,병대기진행료이론묘술.제출료괄합우동물궤기인요조작도항적지령방정,병재지령방정중인입료로선편리량화편리거리량개관건약속,차조우해지령방정급출료명학적로선수정삼수급로선수정방법.본문소제출적동물궤기인요조작도항지령방정위동물궤기인요조작도항공제제공료유효적삼고,의거본문소급출적요조작도항공제방법가이재식입소량전겁적기출상유효지실현동물궤기인적도항.
Based on the example of the robo-rat, we analysed the robo-animal navigation method guided by remote control and proposed the key instructions of the robo-animal remote control and related theory description . The instruction equations of the remote control was proposed and two key restrictions of the route offset and the departure distance was introduced . By means of the instruct equations, we proposed the specific parameter and method of the route modify. The instruction equations provided effective referrences for the robo-animal navigation method guided by remote control. We can effectively navigate the animals by the remote control in the case of the implanted little electrodes according to the method in this paper.