应用虚拟现实的遥操作机器人技术  

A Method of Applying Virtual Reality in Telerobotics

作　　者：李焱[1] 吴涛[1] 贺汉根[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073

出　　处：《国防科技大学学报》2001年第5期108-111,共4页Journal of National University of Defense Technology

基　　金：8 63 2空间机器人与遥科学资助项目

摘　　要：大时延遥操作是空间遥操作机器人研究中的一项关键技术。如何克服通讯延迟和有限带宽的影响是大时延遥操作研究的焦点。本文首先阐述了应用虚拟现实的大时延遥操作的基本思想。着重对基于虚拟环境的遥编程技术和虚拟环境中模型的误差校正技术进行了研究。基于监控思想和遥编程概念 ,实现了应用虚拟现实的遥操作机器人实验系统 ,在地面仿真环境中 。Teleoperation through large time delay (T3D) is one of the key techniques for space telerobotics. How to overcome the impact of the time delay in the communication links and the limited bandwidth, is the focus in the research of T3D. In this paper, the main idea of applying Virtual Reality (VR) in T3D is discussed. The relative key problems in applying VR, including teleprogramming, and model calibration, are especially concerned. Based on the concept of supervisory control and teleprogramming, an experimental telerobotics system is implemented. The system has successfully fulfilled several tasks including the peg in hole task.

关 键 词：大时延遥操作 遥机器人 遥编程 虚拟现实 误差校正 

分 类 号：TP242[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]