具有触觉视觉临场感的遥操作机器人  

Telerobot with Tactile Visual Telepresence

作　　者：祝金 高发荣[2] 席旭刚[2] 

机构地区：[1]鸿泰精密工业(杭州)有限公司,浙江杭州310018 [2]杭州电子科技大学智能控制与机器人研究所,浙江杭州310018

出　　处：《山东科技大学学报（自然科学版）》2012年第5期50-55,共6页Journal of Shandong University of Science and Technology(Natural Science)

基　　金：国家自然科学基金项目(60903084;61172134);浙江省自然科学基金项目(Y1090968;Y1111189;Y1101230);浙江省科技计划项目(2010C33075;2010C33131)

摘　　要：为有效控制机器人完成复杂、精巧的任务,提高机器人在非确定环境下的作业效率,提出了一种具有触觉和视觉临场感功能的遥操作机器人控制新方法。机械手抓握或触摸物体时产生触觉,触觉信号经处理后通过数据手套的震动来刺激操控人员,实现触觉临场感,操控者可根据触觉临场感来掌握自己的手部动作;视觉临场感以视频和3D虚拟工作场景的形式再现。实验表明,该方法能有效提高遥操作机器人的操作能力。In order to effectively control the robot to complete a complex and delicate task and to improve the opera-ting efficiency of the robot in a non-deterministic environment,a new method for controlling the telerobot with tactile and visual telepresence capabilities was proposed in the paper.When manipulators grip or touch objects,the tactile signal was produced,and the tactile signal after processing by the vibration of the data gloves to stimulate control personnel to achieve haptic telepresence,and then,operators control their own hand movements according to the tac-tile telepresence.Visual telepresence was reproduced in the form of video and 3D virtual scene.The experiments showed that this method could effectively improve the operation ability of the telerobot.

关 键 词：交互式遥操作 机器人触觉 机器人视觉 临场感 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]