结合路径规划的虚拟夹具遥操作研究  

Research on virtual fixture teleoperation combined with path planning

作　　者：丁士旵 朱震 钟永彦[1] 陈娟[1] DING Shichan;ZHU Zhen;ZHONG Yongyan;CHEN Juan(School of Electrical Engineering,Nantong University,Nantong 226019,China)

机构地区：[1]南通大学电气工程学院,江苏南通226019

出　　处：《现代电子技术》2024年第11期118-124,共7页Modern Electronics Technique

基　　金：国家自然科学基金项目(62273188)。

摘　　要：在传统的遥操作任务中,由于环境的不确定性和动态变化,传统虚拟夹具面临着实时适应环境变化的挑战,这限制了其在多变环境中的应用范围。为了解决这一问题,文中提出一种结合反向搜索可视图路径规划算法与虚拟夹具技术的创新策略,以实现自适应虚拟夹具的构建和应用。搭建了基于触觉设备Geomagic Touch和ABB公司的IRB 1410型机械臂的遥操作系统,在该系统上进行了路径规划对比实验,并设计了具有突发情况的多组虚拟夹具对比实验。实验结果表明,这种自适应虚拟夹具有效地提高了遥操作系统在复杂环境中的适应能力,它不仅能够保护遥操作系统免受意外伤害,还显著提高了操作者的工作效率。研究结果证明了自适应虚拟夹具在提高遥操作系统灵活性和准确性方面的重要价值,为遥操作技术的进一步发展提供了有力的理论和实践支持。In the traditional teleoperation tasks,due to the uncertainty and dynamic change of the environment,the traditional virtual fixture(VF)is faced with the challenge of adapting to the change of the environment in real time,which limits its application range in the changeable environment.In view of this,an innovative strategy combining reverse search viewable path planning algorithm and VF technology is proposed to realize the construction and application of adaptive VF.In this paper,a teleoperation system based on haptic device Geomagic Touch and ABB's IRB 1410 robotic arm is set up,and a path planning contrast experiment is performed on the system,and multiple groups of VFs with unexpected situations are designed for contrast experiments.The experimental results show that the adaptive VF can effectively improve the adaptability of teleoperation system in complex environment.It can not only protect the teleoperation system from accidental damage,but also significantly improve the working efficiency of the operator.The research results prove the important value of adaptive VF in improving the flexibility and accuracy of teleoperation system,which provides strong theoretical and practical support for the further development of teleoperation technology.

关 键 词：虚拟夹具 遥操作 机械臂 路径规划 触觉 共享控制 自适应 图像采集 运动控制 

分 类 号：TN911.73-34[电子电信—通信与信息系统] TP249[电子电信—信息与通信工程]