基于虚拟现实Stewart平台遥操作系统

Teleoperating system of Stewart platform based on VR

针对基于虚拟现实的遥操作Stewart平台设计了虚拟系统.介绍了虚拟系统的驱动算法的原理.该算法首先建立合适的坐标系,通过一系列的空间坐标变换,解决了平台和6根杆的运动一致问题.采用基于L-M(Levenberg-Marquardt)算法的BP(Backpropagation Al-gorithm)神经网络来解决平台位置正解的问题,经过检验,证明该网络具有很好的泛化性能.采用了层次化的包围盒技术,每个节点建立轴向包围盒,来解决虚拟环境中的虚拟模型的碰撞检测问题.设计了一种简单的控制策略来解决大时延的稳定性问题.在机器人本地控制器的设计中采用离散化的微分跟踪器来保证机器人本地控制的稳定性和良好的动态性能,最后通过试验验证了本系统的有效性.

The virtual system for teleoperating Stewart platform based on VR （virtual reality） technical was designed. The principle of the drive arithmetic for the virtual model was instructed. In this arithmetic, firstly proper coordinate system was established, and then a series of coordinate transform was adopted, so the movement correspond problem was solved. The neural network based on L-M training algorithm was used to solve the forward kinematics problem of the platform, and proved that the neural network had a very good generalization performance by experiment. Based on bounding volume hierarchies, the axis-aligned bounding boxes was selected to detect the collision in the virtual simulation system. A sort of simple control strategy was used to overcome the stability of the system because of the time-delay of the communicate link. In the local robot control system, the discrete form of tracking-differentiator was selected to ensure that the robot has good stability and well dynamic performance. The virtual system was validated to be effective by experiment finally.