基于虚拟现实交互的机械臂协同控制  

Cooperative control of Mechanical arm based on virtual reality interaction

作　　者：龙勇 朱留存[1,2] 朱宇 

机构地区：[1]扬州大学信息工程学院 [2]北部湾大学先端科学技术研究院

出　　处：《中国新通信》2021年第14期38-40,共3页China New Telecommunications

基　　金：广西八桂学者项目(2019.97)资助。

摘　　要：虚拟现实(Virtual Reality)是一种利用计算机硬件和软件集成的技术,对计算机图形学、人机交互、多媒体、网络通信等多种技术进行综合应用,从而为用户提供虚拟三维世界体验的一种技术。传统机械臂远程控制普遍采用的是手柄和键盘控制方式,而且今后方式普遍是摄像头图像显示在监控器上,和现场操作差别很大。协同控制机械臂将人的主观能动性与机械臂精确作业结合起来,可以实现在人类不能到达的特定环境下,利用远端机器人进行作业,同时通过VR系统模拟真实环境为用户提供身临其境的体验。本文主要以Unity3d引擎为支撑,头戴式显示设备HTC VIVE作为虚拟现实硬件设备,通过Steam VR设计与实现一个具备通用交互行为功能的VR交互场景,利用Socket通信将VR系统与机械臂进行连接,从而实现与机械臂的交互协同控制。Virtual Reality is a technology that uses computer hardware and software integration to comprehensively apply multiple technologies such as computer graphics,human-computer interaction,multimedia,and network communications,so as to provide users with a virtual three-dimensional world experience.The traditional remote control of the mechanical arm generally uses the handle and keyboard control method,and in the future,the camera image is generally displayed on the monitor,which is very different from the on-site operation.The cooperative control mechanical arm combines the subjective activity of human beings with the precise operation of the mechanical arm,which can realize the use of remote robots to perform operations in a specific environment where human beings cannot reach.At the same time,the VR system simulates the real environment to provide users with immersive experience.This article is mainly supported by the Unity3d engine,and the head-mounted display device HTC VIVE is used as a virtual reality hardware device.A VR interactive scene with general interactive behavior functions is designed and implemented through Steam VR.The VR system is connected with the mechanical arm through Socket communication.Thus,the interactive and cooperative control with the mechanical arm is realized.

关 键 词：虚拟现实 人机交互 机械臂 协同控制 

分 类 号：TP241[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]