机器人虚拟环境建模及其遥控操作仿真

Virtual Environment Modeling of Robot and Tele-operation Simulation

为解决因人-机接口技术滞后而导致的遥控系统操作员难以胜任复杂任务的问题,将虚拟现实技术和虚拟环境建模技术引入遥控操作,并采用了修正的人在回路中的仿真系统方案.建立了机器人的虚拟环境模型和基于空间球的人机接口系统,构建了一个完整的基于虚拟现实的机器人遥控操作仿真系统.

Because the current technology of man-machine interface cannot effectively deal with the complicated tasks and result in heavy burden to operator. We lead virtual reality technology and modeling technology of virtual environment into tele-operation, and adopt the modified scheme of man in the loop simulation. At last, the virtual environment model of robot and the man-machine interface based on spaceball is developed, the robot tell-operation simulation system based on VR is implemented.