遥操作工程机器人运动觉提示平台的设计与实现

Design and Implementation of Motion Sense Simulation Platform for Tele-operated Construction Robot

为了将远端工程机器人的运动信息反馈给操作者,更有效地完成遥控作业,设计一种遥操作工程机器人运动觉提示平台,给出一种三自由度运动觉提示方法。通过检测机器人运动信息及对平台进行运动学逆解,获取平台运动的控制信号,通过电液比例控制系统,控制平台跟随机器人运动。实验结果表明:该平台可实现对远端工程机器人运动信息的反馈,跟随特性良好,结构简单,对工程应用型远程操作机器人的设计有参考作用。

In order to feed back the motion information of tele-operated construction robot to the operator to better finish remote control work, a motion sense simulation platform was designed, and a method of 3 freedom degrees motion sense simulation was pro- posed. The control signals of the platform was obtained by detecting the motion information of the tele-operated construction robot and making inverse kinematics solution, and the platform motion following the robot was controlled through electro-hydraulic proportional control system. The experimental results show that the platform can be used to simulate the motion of the construction robot well, and its structure is simple. The research provides reference to the design of tele-operated robot for engineering application.