共查询到19条相似文献,搜索用时 140 毫秒
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1.引言 临场感是虚拟现实技术的一个重要的研究分支,它是随着八十年代遥控作业的需要而提出的。事实证明,遥控作业系统中,主端操作者只有获知了远地从端操作机尽可能丰富的状态信息,才能更为有效地完成控制任务。而这重要状态信息的获得,我们就是采用了临场感技 相似文献
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为了解决当前遥控系统控制分拣机器人执行既定任务时存在目标轨迹跟踪效果不佳、跟踪误差较大,任务执行成功率较低、失误率较高以及系统响应延迟时间较长等缺点,提出并设计了基于虚拟现实技术的分拣机器人嵌入式遥控系统,研究通过分析虚拟现实系统组成结构基础上,将虚拟现实技术与分拣机器人技术有机结合,依据模块化、标准化、开放性和可用性原则,利用虚拟现实技术设计了具有临场感的操作指令输入输子系统和分拣机器人具有真实感的虚拟场景仿真子系统的嵌入式遥控系统;并给出了嵌入式遥控系统的基本功能单元和具体操作流程;依据该流程采用QNX Neutrino系统作为分拣机器人本体控制器,同时采用工业现场总线EtherCAT作为系统网络通信支撑,设计了嵌入式遥控系统软件控制程序,完成了基于虚拟现实技术的分拣机器人嵌入式遥控系统设计。模拟实验结果验证了设计系统的有效性,获得了较好的目标跟踪效果,减小了跟踪误差,提高了分拣机器人任务执行成功率,同时提高了系统效率。 相似文献
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针对遥操作存在大延时和临场感缺失等问题,提出了一种融合多种技术的无时延感的空间遥控机器人实时共享控制系统;重点研究了融合双向力反馈、传感器局部自主控制、图形预显示和遥编程的无时延感遥操作技术;计算仿真实验验证了该系统及其技术的有效性。 相似文献
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遥现—一种重要的虚拟现实技术 总被引:6,自引:1,他引:5
虚拟现实作为一种全新的人机交互环境,因其广泛的应用前景而日益受至人们的普遍关注,而遥现则是随遥控作业的需要而提出的虚拟现实的一个重要研究分支。由于遥现的实现可以大在改善遥迭作业能力,因而引起人们的研究兴趣,并得到迅速的发展。本文介绍了遥现技术的概念和主要研究内容,着重阐述了实现遥现的主要技术,最后以地其应用前景进行了展望。 相似文献
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This study assessed the utility of measures of situation awareness (SA) and attention allocation for quantifying telepresence, the sense of being present at a remote site, in a teleoperation task scenario. Attention and SA have been identified as cognitive constructs potentially underlying telepresence. The motivation for this research was to establish an objective measure of telepresence and investigate the relationship between telepresence and teleoperation performance. Twenty‐four research participants performed a virtual ordnance disposal task at varying levels of difficulty (LODs). The task involved locating, identifying, and disposing of virtual land mines in an outdoor environment using a simulated remote‐control rover with a robotic arm. Performance, SA, and attention allocation were recorded along with subjective assessments of telepresence. Results demonstrated LOD effects on performance and telepresence. Regression analysis revealed LOD and attention to explain significant portions of the variance in telepresence. Results of the study provide further evidence that telepresence may share a relationship with performance, and that cognitive constructs, such as attention and SA, may serve as alternative, objective measures of telepresence. © 2004 Wiley Periodicals, Inc. Hum Factors Man 14: 51–67, 2004. 相似文献
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The Internet connects millions of computers worldwide, and provides a new potential working environment for remote‐controlled telerobotic systems. The main limitation of using the Internet in this application is random delays between communicating nodes, which can cause disturbances in human–machine interaction and affect telepresence experiences. This is particularly important in systems integrating virtual reality technology to present interfaces. Telepresence, or the sense of presence in a remote environment, hypothetically is positively related to teleoperation task performance. This research evaluated the effect of constant and random network (communication) delays on remote‐controlled telerover performance, operator workload, and telepresence experiences. The research also assessed the effect of using a system gain adaptation algorithm to offset the negative impact of communication delays on the various response measures. It was expected that with gain adaptation, system stability, performance, and user telepresence experiences would improve with a corresponding decrease in workload. Results indicated that gain adaptation had a significant effect on the performance measures. The study demonstrated that gain adaptation could reduce deterioration in telepresence experiences and improve user performance in teleoperated and telerobotic control. © 2005 Wiley Periodicals, Inc. Hum Factors Man 15: 259–274, 2005. 相似文献
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Efficient teleoperation of underwater robot requires clear 3D visual information of the robot's spatial location and its surrounding environment. However, the performance of existing telepresence systems is far from satisfactory. In this paper, we present our virtual telepresence system for assisting tele-operation of an underwater robot. This virtual environment-based telepresence system transforms robot sensor data into 3D synthetic visual information of the workplace based on its geometrical model. It provides the operators with a full perception of the robot's spatial location. In addition, we propose a robot safety domain to overcome the robot's location offset in the virtual environment caused by its sensor errors. The software design of the system and how a safety domain can be used to overcome robot location offset in virtual environment will be examined. Experimental tests and its result analysis will also be presented in this paper. 相似文献
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虚拟现实技术的应用使远程控制系统得到发展,增强现实技术是虚拟现实技术的拓展,它将计算机生成的虚拟物体叠加到用户感知的真实世界中.提出并实现了一种基于增强现实的机器人远程控制系统,并就其结构和关键技术进行详细的说明,实验及运行结果表明该系统能有效地改善人机交互能力,并能提高远程控制的精度. 相似文献
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将Internet技术引入到力觉临场感遥操作系统是目前一个具有广阔应用前景的研究方向。由此,针对基于Internet力觉临场感遥操作系统所面临的变时延稳定控制问题,提出了一种基于波积分传输的无源控制算法。经过仿真,证明本算法可保证系统的无源性,并获得较好的操作性。 相似文献
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VR-Based Teleoperation for Robot Compliance Control 总被引:3,自引:0,他引:3
Robots governed by remote human operators are excellent candidates for work in hazardous or uncertain environments such as nuclear plants or outer space. For successful teleoperation, it is important to let the operator feel physically present at the remote site. When the telerobotic system is used to execute compliance tasks in which simultaneous control of both position and force may be demanded and inevitable contact with environments is encountered, information about the interactions between the robot manipulator and the environment are especially crucial for the operator to make proper decisions. This paper proposes a VR-based telerobotic system for such compliance tasks. The proposed system provides both visual and haptic information. A local intelligence controller, capable of surface tracking and force regulation, is equipped on the robot manipulator to tackle the time-delay problem usually present in teleoperation and to share control load with the operator. The proposed telerobotic system is developed in a virtual environment due to recent gains in the capabilities and popularity of virtual reality to generate realistic telepresence. Experiments based on the surface-tracking and peg-in-hole compliance tasks demonstrate the effectiveness of the proposed system. 相似文献
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虚拟现实辅助机器人遥操作技术研究 总被引:8,自引:1,他引:7
本文以水下机器人的遥操作作业为应用背景,提出并实现了虚拟现实技术和视觉感知
信息辅助机器人遥操作实验系统.该系统使用了CAD模型和立体视觉信息完成遥操作机器人
及其作业环境的几何建模和运动学建模,实现了虚拟作业环境的生成和实时动态图形显示.
采用了基于立体视觉的虚拟环境与真实环境的一致性校正、图形图像叠加、作业体与环境位
姿关系建立、基于网络的监控通讯等关键技术.在这个实验系统中,操作人员可利用所生成
的虚拟环境,在多视点、多窗口作业状态图形和图像显示帮助下,实时动态地进行作业观测
与机器人遥操作与运动规划,为先进遥操作机器人系统的实现提供了经验和关键技术. 相似文献