| 基于虚拟夹具的交互式空间机器人遥操作实验 |
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| 引用本文： | 张斌,黄攀峰,刘正雄,朱建军.基于虚拟夹具的交互式空间机器人遥操作实验[J].宇航学报,2011,32(2). |
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| 作者姓名： | 张斌 黄攀峰 刘正雄 朱建军 |
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| 作者单位： | 西北工业大学航天学院智能机器人研究中心,西安,710072 |
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| 基金项目： | 国家自然科学基金资助项目，教育部高等学校科技创新工程重大项目培育资金项目 |
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| 摘 要： | 预测仿真技术是目前消除大时延对遥操作影响的主要方法.在操作者控制虚拟机械臂与仿真环境中的物体接触之前,仅有的视觉信息不足以提供充分的临场感信息,操作者无法进行安全有效的操作;由于肌肉颤抖等原因导致徒手控制的精度较低,操作者无法进行精确的操作.针对这两个问题,使用虚拟夹具技术对操作者的动作进行限制和引导.实验结果表明,在虚拟夹具的辅助下,可以有效提高操作者的临场感,使操作者快速准确完成遥操作任务.
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| 关 键 词： | 预测仿真 时延 临场感 遥操作 虚拟夹具 |
An Interactive Space Robot Teleoperation Experiment Based on Virtual Fixtures |
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| ZHANG Bin,HUANG Pan-feng,LIU Zheng-xiong,ZHU Jian-jun.An Interactive Space Robot Teleoperation Experiment Based on Virtual Fixtures[J].Journal of Astronautics,2011,32(2). |
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| Authors: | ZHANG Bin HUANG Pan-feng LIU Zheng-xiong ZHU Jian-jun |
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| Institution: | ZHANG Bin,HUANG Pan-feng,LIU Zheng-xiong,ZHU Jian-jun(Research Center for Intelligent Robotics,College of Astronautics,Northwestern Polytechnical University,Xi'an 710072,China) |
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| Abstract: | The predictive simulation technology is an effective way to remove the influence of large time delay of the teleoperation.Before interacting with the virtual environment using the robotic arm,the operator can not manipulate the robot safely and effectively due to little telepresence information caused by limited visual feedback.Furthermore,the precision of the operation is compromised by operator's own physical limitation.This paper presented a way that utilizes virtual fixtures as a restriction as well as ... |
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| Keywords: | Predictive simulation Time delay Telepresence Teleoperation Virtual fixture |
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