基于虚拟现实的探测器布局遥操实验装置  

Teleoperation Experiment Device for Detector Placement Based on Virtual Reality

作　　者：陈子晗 刘仪[2] 孙平[2] 邓玮[2] CHEN Zi-Han;LIU Yi;SUN Ping;DENG Wei(Institute of Nuclear Science and Technology,Sichuan University,Chengdu Sichuan 610064,China;Southwestern Institute of Physics,Chengdu Sichuan 610041,China)

机构地区：[1]四川大学原子核科学技术研究所,四川成都610064 [2]核工业西南物理研究院,四川成都610041

出　　处：《计算机仿真》2023年第8期440-444,517,共6页Computer Simulation

基　　金：国家自然科学基金(11875018);核聚变及等离子体技术基础研究项目(202001XWCXRZ003)。

摘　　要：为测量核聚变装置托卡马克内部核辐射场分布,需要遥操机械臂进行探测器的布局。搭建UR10机械臂及功能测试操作环境,使用Unity3D建立相应的虚拟现实环境,集成操作手柄、手势识别等操作设备,在仿真的基础上实现真实环境和虚拟环境的网络通信,设计遥操的动作指令,成功应用虚拟现实技术遥操机械臂完成探测器的布置。对比虚拟机械臂与真实机械臂的位姿同步精度,两者间的误差平均值约为0.2mm。结果证明,通过虚拟现实技术辅助机械臂进行探测器的远程布局,人机交互方式简单,操作精度较高。In order to measure the dose distribution inside the nuclear fusion device tokamak,the teleoperation of manipulator is required to place the detectors.So in this paper,UR10 manipulator and functional test operating environment were built,corresponding virtual reality models were established through Unity3D,and the operating equipment such as handle and gesture recognition were integrated.On the basis of simulation,the network communications between real environment and virtual environment were realized and the motion commands of teleoperation were designed.The virtual reality technology was successfully applied to complete the placement of detectors by teleoperating a manipulator.The accuracy of pose synchronization between virtual manipulator and real manipulator was discussed,as a result of which,the average error is about 0.2mm.It turns out that the remote placement of detectors assisted by virtual reality technology can bring simple man-machine interaction mode and high operation accuracy to the operator.

关 键 词：遥操 虚拟现实 机械臂 探测器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]