摘要
虚拟机器人是机器人遥操作系统基本框架中不可或缺的一部分 ,是解决信号传输中的大时延 ,实现预测显示技术的关键之一。本文首先分析了引起时延的各种因素 ,提出采用预测预演控制方式结合虚拟现实的人机交互方法进行控制可以解决时延对系统可操作性的影响 ,同时探讨了利用数据手套实现虚拟机器人的操作技术 ,试图寻找一种更自然、更易让人接受的虚拟机器人控制方式 ,建立了一套基于数据手套驱动的虚拟机器人Puma5 6 0操作实验系统。实验结果表明 ,通过数据手套的手势输入和识别 ,可以实现操作者对虚拟机器人方便快捷的操作控制 ,是一种人性化的人机交互方法。
Virtual robot is a necessary part of a tele-robot system and one of the key issues for solving the signal delay and realizing forecast display. In this paper, several factors that cause time-delay are analyzed, and predictive/preview display control method is proposed to reduce the effect of time-delay. The operating technology of virtual robot using data glove is discussed for finding a more natural and friendly virtual robot control manner. A virtual robot of Puma560 control experiment system was built based on data glove. The results of the experiment indicate that virtual robot can be operated and controlled conveniently by gesture input and identification. It is proved to be a friendly man-machine interface.
出处
《机械科学与技术》
CSCD
北大核心
2004年第12期1433-1436,共4页
Mechanical Science and Technology for Aerospace Engineering
