临场感遥控作业机器人的力觉虚拟现实建模研究

Modeling of Force Sense Virtual Reality in Telerobot System With Telepresence

虚拟现实技术是目前解决临场感遥控作业机器人系统中时延问题的有力手段。本文针对力觉虚拟现实的实现 ,提出一种新的力觉虚拟环境的建模方法 ,该方法引入虚拟物体的动力学特征 ,使得模型更具真实性 ,不仅可以生成交互时发生的弹性接触力 ,还可以生成操作过程中的惯性力以及接触过程中的摩擦力。实验表明了该方法的有效性。

Virtual reality technique is a powerful tools to solve the time delay problem exits in telepresence telerobot system at present.In this paper,a novel modeling method for realizing the force sense virtual reality in telerobot system is proposed,which can make the virtual environment become realer than that of before research by using the dynamic characteristic of real environment.This method can not only produce the virtual inertial force output in the course of interaction,but also the virtual friction force output in the course of manipulation.At last,the experiment result shows the effectiveness of this modeling algorithm.