[1] Chen Junjie, Huang Weiyi, Song Aiguo, Xi Weiyang, et al. Design of research platform on telerobot systembased on virtual reality technology [J]. Journal of Southeast University (English Edition), 2004, 20 (1): 80-84. [doi:10.3969/j.issn.1003-7985.2004.01.017]

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Design of research platform on telerobot systembased on virtual reality technology()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

20

Issue:

2004 1

Page:

80-84

Research Field:

Automation

Publishing date:

2004-03-30

Info

Title:

Design of research platform on telerobot systembased on virtual reality technology

Author(s):

Chen Junjie¹;  Huang Weiyi¹;  Song Aiguo¹;  Xi Weiyang¹;  Lin Chun²

¹Department of Instrument Science and Technology, Southeast University, Nanjing 210096, China
²Department of Automation, Nantong Institute of Technology, Nantong 226007, China

Keywords:

tele-operation;  virtual reality;  research platform;  3-D simulation;  design strategy

PACS:

TP242.2

DOI:

10.3969/j.issn.1003-7985.2004.01.017

Abstract:

A new design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is simply described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+ OpenGL+ 3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot(manipulator)system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.

References:

[1] Hirzinger G, Heindl J. Multisonsory shared auto￣nomy — a key issue in the space robot technology experiment ROTEX [A]. In: Proc of the IEEE/RSJ Int Conf on Intelligent Robots and Systems[C]. San Francisco, 1993. 221-230.
[2] Bejczy A K, Kim W S, Venema S C. The phantom robot: predictive displays for teleoperation with time delay [A]. In: Proc of IEEE Int Conf on Rob and Auto Albuquerque [C]. New Mexico, 1990. 546-551.
[3] Tsumaki Y, Uchiyama M. A model-based space teleoperation system with robustness against modeling errors [A]. In: Proc of IEEE Int Conf on Rob and Auto Houston [C]. Texas, 1997.1594-1599.
[4] Hearn D, Baker M P. Computer Graphics [M]. Translated by Cai Shijie, et al. Beijing:Publishing House of Electronics Industry, 2000.(in Chinese)

Memo

Memo:

Biography: Chen Junjie(1958—), male, doctor, professor, chen.jj@seu.edu.cn.

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