CAJ | 학술논문

针对无线通信网络时延造成遥操作工程机器人系统操作性能下降甚至不稳定问题，设计了遥操作工程机器人无线通信系统、控制系统结构和模糊控制器。利用广域网模拟器，对不同网络时延下机器人抓手机构的位置阶跃响应和正弦轨迹跟踪特性进行了实验研究。结果表明：与传统PID控制器相比，该模糊控制器具有更好的稳态和动态特性，对网络时延具有更好的适应性和鲁棒性。研究结果对提高无线通信网络环境下的遥操作工程机器人系统的操作性能具有指导意义。
침대무선통신망락시연조성요조작공정궤기인계통조작성능하강심지불은정문제，설계료요조작공정궤기인무선통신계통、공제계통결구화모호공제기。이용엄역망모의기，대불동망락시연하궤기인조수궤구적위치계약향응화정현궤적근종특성진행료실험연구。결과표명：여전통PID공제기상비，해모호공제기구유경호적은태화동태특성，대망락시연구유경호적괄응성화로봉성。연구결과대제고무선통신망락배경하적요조작공정궤기인계통적조작성능구유지도의의。
Aiming at the problem that the network time-delay in wireless network environment degraded the performance of the tele-operated construction robot system and even made the system unstable,the wireless network system and control system structure and fuzzy controller of the tele-operated construction robot system were designed.With the help of WAN emulator,the experimental re-searches of the position step response and sinusoidal trajectory tracking characteristics of the grabbing structure of robot under variable network time-delay were conducted in the wireless network environment.The results show that the fuzzy controller,as compared with the traditional PID controller,has better dynamic and steady state characteristics and better adaptability and robustness to the network time-delay.The research result has guiding significance for improving the performance of tele-operated construction robot system in the wireless network environment.