遥操作机器人客户端仿真系统的设计与实现

Design and Implementation of Client-Side Simulation System of Telerobotics

该文面向空间机器人遥操作,应用三维预测仿真和遥传感器反馈监控技术,建构了遥操作机器人的客户端仿真系统。实现了简单的柔顺力控制操作的仿真。操作员通过仿真系统面向的虚拟环境离线编程,实现对遥操作任务的预演。同时基于遥传感器反馈信息的识别,实现了对远端任务执行进程的监控和状态流图显示。在模拟的大时延情况下,操作员能够在客户端通过局域网控制实验室中的机器人完成精密插孔装配等任务。为进行大时延遥操作提供了算法实验平台。

In this paper, applying the techniques of 3D -graphics predictive simulation and supervision based on remote sensor event feedback, we have developed a simulation system in the client to address some challenges of space robotics teleoperation. The system realizes to some extent the simulation of compliant motion by modeling contact force, and allows operators to plan and rehearse teleoperation tasks off- line prior to execution. We have also designed the stateflow display of remote sensor event feedback to monitor the execution process of the tasks. The client - side simulation system has been successfully tested in the square peg - in - hole assembly in which operators can control and monitor the PUMA562 located in the laboratory through the LAN and artificial large time delay.