基于虚拟现实的遥操作机械臂三维预测仿真

3D Predictive Simulation for Tele-operation Manipulator Based on VR

首先介绍机器臂的基本模型,然后阐述基于虚拟现实的遥操作机器人系统结构,提出运用VRML-JAVA技术在微机上对关节型机械臂进行运动仿真研究.结果表明:在机器人遥操作中,应用虚拟现实技术可以预测显示机器人的运动轨迹,实现对远端机器人进行预测控制.

Time delay in communication channels of a tele-operation robot system conduces to instability and bad performance of system. In order to eliminate or reduce the effect of time delays , predictive simulation is adopted. Geometric model of the telerobot and the environment is constructed beforehand . Graphics simulation based on virtual reality can obtain area of the telerobot arrived at , movement states and the relation between the telerobot and the surroundings . It enhances the performance of telerobot system . This paper introduces a basic model of articulated manipulator, and expatiates the structure of VR for telerobot. The method that using VRML-JAVA technology based on PC to study the articulated manipulator is presented. The experiment result shows that using VR can predictive display motion track of robot and predictive control the distant robot.