摘要
本文实现了一个具有显微图像效果的 2 D增强现实的微操作拟实环境 .文中给出了微操作工具的生成算法和它的运动学建模算法 ,并在虚拟显微镜的实现过程中对操作工具和操作对象的显微图像进行了优化处理 ,实现了对微操作机器人系统的拟实 ,并获得了很好的拟实效果 .该拟实环境可有效地用于实际微操作的预演、再现 ,微操作路径规划及人员培训 .
A 2D augmented reality environment with the characteristics of microscope image is implemented for a microoperation robot system in this paper. Generating micromanipulator, kinematics modeling for micro manipulator and micro image processing for both micro manipulator and microoperating object are the main problems in the implementing process. After the key algorithms for these problems have been successfully carried out, the virtual microoperation environment is implemented in this paper. The environment can be effectively used to preview or rehearse the real micro operation and do path planning for micromanipulator and train the operators.
出处
《机器人》
EI
CSCD
北大核心
2001年第4期305-310,共6页
Robot
基金
国家863计划(863-512-980407)
国家自然科学基金(69985006
69773050)
教育部高等学校骨干教师资助计划资助项目
