在线修正虚拟仿真预测的遥操作机器人系统  

Tele-robot Control System with Online Virtual Simulation Prediction

作　　者：胡凌燕[1] 史康柏 张碧纯 徐少平[1] Hu Lingyan;Shi Kangbai;Zhang Bichun;Xu Shaoping(School of Information Engineering,Nanchang University,Nanchang 330031,China)

机构地区：[1]南昌大学信息工程学院

出　　处：《系统仿真学报》2020年第2期247-254,共8页Journal of System Simulation

基　　金：国家自然科学基金(61563035,81501560,61662044,61663027);江西省杰出青年基金(2017 1BCB23008)

摘　　要：带虚拟仿真预测系统的遥操作机器人在核电站等复杂环境中作业时,可能会出现虚拟仿真机器人与实际机器人的工作状态不同步,从而导致影响操作者判断,发出错误指令。研究了一种基于在线修正虚拟仿真预测算法的遥操作机器人系统。主端虚拟仿真预测系统建立了从端环境及机器人的虚拟模型,根据操作者命令对从端机器人的状态实时预测,同时根据从端现场检测到的机器人状态对虚拟机器人进行在线修正,以保证虚拟仿真预测系统与从端机器人工作状态同步。实验结果表明:主端虚拟预测平台能够实时预测出从端工作状态;当从端机器人未能按照指令运动时,主端虚拟场景也与从端的工作状态同步。When a tele-robot with virtual simulation system works in a complicated environment, the virtual scene may not synchronize with the real one. This may cause the operator on the master side to give wrong instruction. This paper presents a tele-robot with online virtual model correction. The virtual simulation system on the master side builds a virtual model of environment and robot on the slave side. It predicts the motion of the slave robot in real time according the commands from the operator. In order to ensure the virtual scene synchronize with the real one, the measured data on the slave is transmitted to the master and used to correct the virtual model on-line. The experiment results show that the virtual simulation system can correctly predict the robot state and the virtual scene can synchronize with the real scene when the slave does not move as commanded.

关 键 词：虚拟仿真 预测 遥操作机器人 在线修正 同步 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]