面向排爆机器人的虚拟仿真训练系统设计与实现  

Design and implementation of virtual simulation and training system for explosive ordnance disposal （EOD） robots

作　　者：王田苗[1] 李雪雯[1] 孟偲[1] 梁建宏[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083

出　　处：《高技术通讯》2006年第6期580-585,共6页Chinese High Technology Letters

基　　金：863计划（2004AA420090）资助项目.

摘　　要：针对排爆机器人使用和训练的需求，设计并实现了一套排爆机器人虚拟仿真训练系统。首先分析了排爆机器人的常见结构，针对一种通用结构设计的排爆机器人设计了仿真训练系统的结构，并对仿真系统的几何建模、运动模型和碰撞检测进行了分析，最后实现了排爆机器人虚拟仿真训练系统。该系统使操作手能够熟悉并掌握排爆机器人的操作。To meet the needs of EOD robots＇ application and training, the authors designed and implemented a virtual simulation and training system for EOD robots. First the EOD Robot＇s ordinary configuration was analysed, and the structure of the simulation system was designed according to a kind of common EOD robots, and then the key technologies of the system, such as the geometry modeling, movement modeling and collision detection, were studied. Finally the virtual simulation and training system was implemented. The system can make operators know and do well with the operation of EOD robots.

关 键 词：排爆机器人 几何建模 运动建模 虚拟仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TP242.3[自动化与计算机技术—计算机科学与技术]