基于灵巧手的空间遥操作仿真系统  

Simulation System of Space Teleoperation Based on Dexterous Robot Hands

作　　者：何瑾[1] 张国峰[1] 戴树岭[1] 

机构地区：[1]北京航空航天大学虚拟现实技术与系统国家重点实验室,北京100191

出　　处：《系统仿真学报》2009年第21期6915-6918,6924,共5页Journal of System Simulation

摘　　要：针对空间遥操作普遍存在的通讯大延时问题,采用3D图形预测显示的方法,建立了基于灵巧手的遥操作仿真系统。操作人员借助数据手套,直接控制虚拟场景中的图形灵巧手来完成作业,图形灵巧手对操作者的输入指令即时响应,远程灵巧手的动作是经过一定时延迟后图形灵巧手运动的再现,从而有效地避开底层通讯时延的影响。首先介绍了系统框架,然后详细介绍了虚拟环境的建模,包括三维实体建模和运动学建模,重点讨论了人手到灵巧手的运动映射,并对空间通讯延迟进行了数学仿真,最后通过仿真对系统进行了验证。Aiming at the large time delay in the space teleoperation, teleoperation system based on dexterous robot hands was proposed adopting 3D graphic predictive simulation. Operator controlled the simulating dexterous robot hand directly in the virtual scene using data glove. The simulating robot hand responded the import injunction immediately with no time delay and the movement of real robot hand in long distance is the reappearance of the simulating robot hand so that the operation for the operator could avoid the influence of the large time delay. The framework of the system was discussed firstly. Environment modeling was proposed including modeling of 3D entities and kinematics secondly. The key problem which is the kinetic mapping from human hand to robot hand was especially concerned. The model of the large time delay was simulated in mathematics. Finally, the system was verified through simulation.

关 键 词：空间遥操作 灵巧手 虚拟现实 运动映射 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]