[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()

虚拟现实遥操作机器人系统 研究平台的设计策略

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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

虚拟现实遥操作机器人系统 研究平台的设计策略

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

陈俊杰¹;  黄惟一¹;  宋爱国¹;  奚维旸¹;  林纯²

¹东南大学仪器科学与工程系, 南京 210096; ²南通工学院自动化系, 南通 226007

Keywords:

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

遥操作;  虚拟现实;  研究平台;  3-D仿真;  设计策略

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.

提出了基于虚拟现实技术的临场感遥操作机器人系统研究平台的新的设计策略, 简述了其系统的设计框架, 详细描述了其中重要的核心技术.利用八叉树数据结构构筑虚拟仿真环境的运动学和动力学模型, 采用Delphi+OpenGL+3DS MAX对从机器人及其环境进行可视化仿真.并采用摄像修正法修正虚拟几何模型定位偏差和建模误差.所实现的研究平台软硬件设备成本低, 主、从机器人(机械手)系统及系统中所有软件均由本课题组设计、研制, 系统性能达到了研究所需要的水平, 为虚拟现实临场感遥操作机器人系统的研究提供了不可缺少的实验床.

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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