基于虚拟现实的无时延感空间机器人遥控操作研究  

Research on teleoperation without time delay based on virtual reality for space robots

作　　者：李华忠[1] 梁永生[1] 洪炳熔[2] 

机构地区：[1]深圳信息职业技术学院软件工程系,广东深圳518029 [2]哈尔滨工业大学计算机科学与工程系,哈尔滨150006

出　　处：《计算机应用研究》2008年第11期3404-3407,共4页Application Research of Computers

基　　金：国家自然科学基金资助项目(69985002);国家“863”计划资助项目(2001AA422270)

摘　　要：主要研究了克服空间机器人遥控操作时延问题的虚拟建模和仿真技术。首先概述了遥操作时延问题的研究现状;然后提出了一种基于虚拟现实预显示技术解决时延问题的方案;最后开发了基于虚拟现实的无时延感的遥控操作系统,并进行了仿真实验研究。仿真结果表明,虚拟现实技术在有效克服空间机器人遥控操作大时延中发挥了重要作用。This paper mainly researched virtual modelling and simulation technology about teleoperation without time delay for space robots. First, described research present summary on teleoperation delay problem. Second, presented solution to solve time delay based on virtual reality （VR） predictive display technology. Finally, developed teleoperation system without time delay based on VR and carried on simulation experiment. The simulation results show that VR technology has taken very much importment play in overcoming effectively teleoperation time delay for space robots.

关 键 词：遥控操作 虚拟现实 无时延 空间机器人 仿真实验 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]