机器人虚拟主手参考结构及关键技术研究  

Reference architecture and key technologies for virtual master-robot

作　　者：王立权[1] 吴健荣 刘于珑[2] 卢正宇[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001 [2]核动力运行研究所,武汉430074

出　　处：《制造业自动化》2008年第8期54-57,62,共5页Manufacturing Automation

摘　　要：虚实结合的机器人仿真平台作为主从式机器人的虚拟主手和新样机研发的辅助工具,有着广泛的应用价值,而可重用性是平台设计的一个重要问题。文章提出一种易重用、模块化的仿真平台结构;探讨妨碍平台重用的两个关键问题:操作运动学和视图显示。通过建立统一的软件结构和运行机制提高平台可重用性。多个虚拟主手的开发实践,验证了平台结构的合理性和实用性。Robotic simulation platform with physical control used as host hand of master-slave robotic system or assistant tool of new prototype research has an extensive application value. Reusability is an important topic related to platform design. Reusable and modular platform architecture is developed; two obstacles of reuse, operational kinematics and visual displaying, are discussed. The reusability is improved by establishing unified software structure and operation mechanism. Several robotic applications have verified the rationality and practicality of platform structure.

关 键 词：机器人 仿真平台 运动学 软件重用 虚拟现实 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]