基于数字孪生的遥操作机器人在线示教系统  

Online teaching system of teleoperation robot based on digital twin model

作　　者：陈成军 丁旭彤 潘勇 张浩 洪军[2] CHEN Chengjun;DING Xutong;PAN Yong;ZHANG Hao;HONG Jun(School of Mechanical and Automotive Engineering,Qingdao University of Technology,Qingdao 266520,China;School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]青岛理工大学机械与汽车工程学院,山东青岛266520 [2]西安交通大学机械工程学院,陕西西安710049

出　　处：《计算机集成制造系统》2023年第3期951-963,共13页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金资助项目(52175471)。

摘　　要：为提高遥操作机器人的示教编程效率和在线示教的安全性,提出了面向遥操作机器人在线示教的数字孪生框架,建立了机器人及其工作场景的虚拟模型,实现了物理实体到数字孪生模型的映射;设计并实现了基于RGB-D图像和姿态示教器的遥示教方式,通过鼠标和姿态示教器规划虚拟机器人末端执行器的路径和姿态,并利用增强现实技术,实现了虚实融合示教,提高了遥操作机器人在线示教的人机交互性;构建了机器人及其工作场景的八叉树模型,在机器人按照规划的路径和姿态运动时,可以预测机器人与工作场景之间的碰撞干涉;系统将未发生碰撞干涉的规划路径和姿态指令发送给物理机器人控制器控制物理机器人运动,从而实现基于数字孪生遥操作机器人在线示教功能,提高在线示教系统的安全性。To improve the teaching efficiency and safety of teleoperation robot,a digital twin framework for teleoperation robot was proposed.To map physical entity to the digital twin model,the virtual models of both robot and its working scene were established.A teleoperation method based on RGB-D image and posture teaching device was designed and implemented.In this method,the paths and postures of the virtual robot end-effector were controlled by mouse and posture teaching device.In addition,the Augmented Reality(AR)technology was used to combine the virtual modes with physical scene,and the AR-based teaching of teleoperation robot was realized.The octree models of the virtual robot and its working scene were also constructed to predict the collision interference between the virtual robot and the working scene.By collision detection technology,the system sent the planned paths and postures without collision interference to the physical robot controller to control the movement of the physical robot,so as to realize the robot online teaching of the teleoperation robot.

关 键 词：遥操作机器人 在线示教 数字孪生 增强现实 人机交互 碰撞检测 

分 类 号：TP165[自动化与计算机技术—控制理论与控制工程]