虚拟现实技术在机器人臂/灵巧手遥操作中的应用  

An Application of Virtual Reality on Teleoperation of Robot Arm and Dexterous Hand

作　　者：胡海鹰[1] 李家炜[1] 王滨[1] 王捷[1] 刘宏[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《系统仿真学报》2004年第10期2305-2308,共4页Journal of System Simulation

基　　金：国家自然科学基金 (60275032)

摘　　要：将虚拟现实技术应用机器人臂/灵巧手遥操作系统中,完成了环境建模、人-机接口、精确的图形碰撞检测和抓握稳定性分析,并实现了对虚拟环境中模型的实时误差校正。利用该虚拟现实系统,结合视觉反馈和力反馈,完成了按按钮、拉抽屉、抓握灯泡等遥操作任务。A teleoperation system for robot arm and dexterous hand based on virtual reality is introduced in this paper. Environment modeling, human-machine interface, precise collision detection and grasp stability analysis are focused in the development. Especially, the model in virtual can be updated in real-time. Utilizing this virtual reality system combined with vision and force feedback, some teleoperation tasks, such as pushing button, pulling drawer and grasping bulb, have been accomplished.

关 键 词：虚拟现实 遥操作 机器人臂/灵巧手系统 模型误差校正 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]