机器人的力觉临场感仿真  

HAPTIC TELEPRESENCE SIMULATION FOR ROBOTS

作　　者：张克敏[1,2] 梁锡昌[1] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400030 [2]日本九州大学

出　　处：《机械强度》2012年第6期844-848,共5页Journal of Mechanical Strength

基　　金：国家留学基金委资助项目(2008101103)~~

摘　　要：为开发基于虚拟现实的机器人临场感仿真实验平台,提出并研究一种新的机器人力觉临场感仿真方法,以虚拟三自由度机器人为具体实例进行详细分析。首先将整个仿真过程离散化,在每个离散点上计算出虚拟机器人末端的力,再通过建立合理的力反馈计算模型,得出操作者感觉到的力与关节力矩之间的离散型递推方程,最后开发相应程序,以进行力觉临场感仿真实验,仿真结果表明该算法的有效性。In order to develop telepresenee simulation experimental platform for robots based on virtual reality, it is proposed and studied that a new method of haptic simulation for robots, and take 3-DOF （ degree of freedom） robots for good example to analyze in detail, firstly, whole simulation process will be discrete, and calculated force of endpoint of robots in every discrete point, and obtained discrete recursive equation between sensing force and joint torque through building reasonably force feedback model, finally, compiled corresponding VS （visual studio） program to conduct haptic telepresence simulation experiment, its simulation result proves the validity of the algorithm.

关 键 词：机器人 力觉 临场感 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TB115.2[自动化与计算机技术—控制科学与工程]