Human-robot Shared Control System for Distribution Network Live Working Robot
In this paper,a shared control system for distribution network robot operations is proposed with dynamic shared weight assignment to enable switching between teleoperated and autonomous navigation agents.The system grants the highest control authority to the local operator.The local end-handle device detects the user's input force in real time and the results are used to generate shared weights for robot autonomy and user remote control.The control system en-sures synchronization of the two commands of the professional operator and robot autonomy and combines them to deter-mine the motion of the remote robot.Experimental results on a laboratory-built robot platform demonstrate the effectiveness of the method.Tests are conducted with multiple sets of tracking target point experiments to compare the combined per-formance of purely manual remote control and the proposed shared control approach.
万方数据
维普
