基于虚拟现实的机器人遥操作关键技术研究  

Survey on robot teleoperation based on virtual reality

作　　者：倪得晶[1] 宋爱国[1] 李会军[1] 

机构地区：[1]东南大学仪器科学与工程学院,南京210096

出　　处：《仪器仪表学报》2017年第10期2351-2363,共13页Chinese Journal of Scientific Instrument

基　　金：国家重点研发计划(2016YFB1001301);国家杰出青年科学基金(61325018);江苏省科技支撑计划(BE2014132);国家自然科学基金(61403080);江苏省自然科学基金(BK20140641)项目资助

摘　　要：机器人遥操作是实现空间、医疗及深海等领域作业的重要手段,基于虚拟现实的机器人遥操作是克服时延的有效方法,具有透明性强、稳定性高的优点,成为当前机器人遥操作的主要方式。首先分析了基于虚拟现实的机器人遥操作系统的关键组成部分,并对其关键模块的具体作用进行了介绍;其次,归纳分析了各类虚拟现实环境建模方法,主要从几何建模和动力学建模方面展开,阐述了每种方法的应用领域、主要特点;此外,进一步分析了遥操作虚拟夹具设计的构建方法及适用领域。最后对当前存在的难点进行总结,指出今后研究的思路。Robot teleoperation is the key technology to implement tasks in space,telesurgery,deep ocean areas. Robot teleoperation based on virtual reality is an efficient way to overcome the time delay problem,which can provide with a teleoperation with hightransparency and strong-stability performance,and it is currently the main way to realize robot teleoperation. Firstly,the key components of the robot teleoperation system based on virtual reality are analyzed,and the function of each module is introduced. Secondly,methods to realize virtual reality environment modelling are reviewed,including the geometric modelling and the dynamic modelling methods. The performance of each modelling method is analyzed. Besides,the construction methods and application areas of virtual fixtures are discussed. Furthermore,current problems in this area are summarized and analyzed,and some research directions are proposed.

关 键 词：虚拟现实 遥操作 环境建模 虚拟夹具 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TP249[自动化与计算机技术—控制科学与工程]