CAJ | 학술논문

移动服务机器人在提高老人／残疾人活动空间方面具有重要作用。针对机器人自主避障失败时存在安全问题，提出了基于共享控制的服务机器人系统。构建基于机器视觉与人眼视觉共享控制的机器人系统。研究服务机器人的共享策略问题和眼电信号角度与参考轨迹关系。引入人工场解决自适应轨迹跟踪算法的平滑性。仿真结果说明基于人工场导向方法能平滑逼近期望轨迹。实验结果表明本系统能够满足使用者的安全需求。
이동복무궤기인재제고노인／잔질인활동공간방면구유중요작용。침대궤기인자주피장실패시존재안전문제，제출료기우공향공제적복무궤기인계통。구건기우궤기시각여인안시각공향공제적궤기인계통。연구복무궤기인적공향책략문제화안전신호각도여삼고궤적관계。인입인공장해결자괄응궤적근종산법적평활성。방진결과설명기우인공장도향방법능평활핍근기망궤적。실험결과표명본계통능구만족사용자적안전수구。
Mobile service robots play an important role in improving activity space of the eld‐erly/disabled .According to the safety problem of robot autonomous obstacle avoidance fail‐ure ,shared control‐based robot system is proposed .Construct shared control robot system with computer vision and human vision .Research the robot′s shared strategy and the rela‐tionship between EOG(Electrooculogram) signal and reference trajectory .Introduce artificial field to solve the smoothness of adaptive trajectory tracking algorithm .Simulation result show s that artificial field based algorithm can smoothly approach to the expected trajectory . Experiment result show s that the system can satisfy the safety needs of the user .