遥操作水下工程机器人触觉可视化系统的研究

Research on a Haptic Visualization System of Tele-Operated Underwater Construction Robot

为了解决在浑浊的水下作业环境无法获取清晰的视频图像等问题,设计一种遥操作水下工程机器人的触觉可视化系统。采用SolidWorks建模与Opengl函数建模的混合建模方法及Denavit-Hartenberg(D-H)描述方法构建虚拟工程机器人,利用工程机器人末端的力传感器信号将手爪与目标物体的触觉信息显示在虚拟现实操作环境中。实验表明:该系统可实时显示机器人的位姿、目标物体物理特性及其与手爪之间的位置和作用关系。研究结果可为在水下恶劣环境下作业的遥操作工程机器人的虚拟现实系统设计提供指导。

In order to solve the problem of unable obtaining a clear video image in turbid underwater working environment,a haptic visualization system of teleoperated underwater construction robot is designed.The hybrid modeling method of combining SolidWorks software modeling with Opengl function modeling,as well as the means of Denavit-Hartenberg(D-H)description,are investigated and applied to the modeling of the virtual construction robot.The haptic information of the gripper and target object detected by the force sensors at the end of the construction robot is displayed in the virtual reality operation environment.The experimental results demonstrate that the system can real-time display the posture of the robot,the physical properties of the target object,and the position and interactions between the gripper and target object.This research results can provide guidance for the design of the virtual reality system of teleoperated construction robot in the underwater harsh environment.