共查询到19条相似文献,搜索用时 125 毫秒
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本文介绍了用于遥控机器人作业虚拟环境生成的建模方法,重点研究了基于人机交互的双目立体视觉和多视点建模方法,以克服视觉自动建模方法计算复杂、鲁棒性差的缺点,给出了环境建模的实验系统和实验结果。 相似文献
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面向机器人应用的桌面虚拟环境生成与显示技术 总被引:3,自引:0,他引:3
本文主要研究了利用微机网络的并行计算能力来实现桌面机器人虚拟环境生成的结构和算法.此系统的性能价格比高,只需少量的投资,这为研究VR技术在机器人中的应用提供了一种新的途径.实时三维图形的生成与显示是产生虚拟环境的基础和关键,要实时产生三维图形,需要计算机有非常高的运算速度,文中详细地介绍了在基于局域网的分布式网络系统上,如何利用网络的计算能力来完成三维图形的实时生成.同时在立体显示技术上作了改进,消除了利用液晶光闸眼镜来观察立体图像给人造成的严重闪烁感 相似文献
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为了避免机器人遥操作过程中,机器人与环境物体不必要的碰撞,以及解决"运动-等待"现象影响机器人系统安全性和效率的问题,提出了基于人工势场生成动态安全预警域的算法.该算法根据等势面原理生成的预警域既可以实时地检测机器人与环境物体的距离,又可以根据机器人的速度和加速度划定一个相对安全的区域,避免机器人在下一时刻因为速度过快与环境物体发生碰撞.最后搭建遥操作实验平台,进行了机器人在预警算法的辅助下快速抓取目标的实验.实验证明,该算法可有效提高远程机器人遥操作的安全性和效率. 相似文献
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虚拟现实技术是解决具有大变时延特点的空间机器人遥操作过程的关键技术之一.针对空间遥操作过程的大变时延、带宽有限、单次操作弧段短、人在回路中易出现时空分离感的特点,利用虚拟视觉和虚拟夹具辅助的虚拟力反馈技术设计并开发了一套空间机器人遥操作系统,避免了传统遥操作作业过程的“运动-等待”现象.重点分析了空间遥操作过程的特点,给出了遥操作系统的运行原理,论述了立体视景的构建过程,提出了虚拟力生成原理和速度型虚拟夹具原理,讨论了系统实现过程中的关键技术,并通过目标停靠试验验证了设计的空间遥操作系统能够准确、快速地完成空间r操作任务. 相似文献
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《Advanced Robotics》2013,27(1):1-5
This paper discusses the problems in teleoperation systems for a mobile robot and the utilization of a virtual world in such systems. In order to achieve smooth operation of the mobile robot through a communication link, we should consider time delays in data transfer. To compensate for the incomplete data sets, the virtual images can be generated by computer graphics when the information on the working environment can be acquired beforehand. In this paper, we construct a teleoperation system with a virtual world. The performance of the system is examined through experiments with actual mobile robots which show that the virtual robot can be operated by an operator in almost the same manner as the teleoperated real robot. In an experimental environment with a second moving robot, we can keep the status of the second robot under perfect control and operate the first robot with no interference. 相似文献
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《Robotics, IEEE Transactions on》2009,25(6):1343-1355
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针对多变未知的作业环境以及复杂繁多的作业任务,设计一种基于视觉/力觉辅助作业的遥操作系统.首先,利用Kinect摄像头采集作业现场的3D点云数据,结合虚拟现实技术,在计算机上将虚拟机械臂模型叠加到真实环境中,同时显示虚拟模型与现场信息,提高操作人员的现场感知能力;根据获取的障碍物和目标物体位置信息,建立人工势场,增强操作者控制远端机械臂进行避障及接近目标物体操作的能力,完成环绕和避障任务.该方案在7自由度Schunk机械臂上得到了实现.结果表明,此方案可以很好地弥补虚拟环境缺乏现场信息的缺点,提高了遥操作系统的可靠性. 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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本文讨论一般的旋转关节平面机器人的工作空间问题,给出了作为工作空间的圆环区域的内、外半径有圆环自身的半径(厚度),同时对文献「5」的示便中关于平面机器人工作范围的一个结论进行了分析。 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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对水果采摘机械手空间定位机理进行了研究,分析了双目立体视觉系统的定位误差并建立视觉误差补偿机制,利用虚拟机械手开发软件和CCD视觉硬件构建了仿真系统,通过双目立体视觉获取空间位置数据映射到虚拟环境下引导机械手进行模拟采摘。该系统利用多领域知识融合实现了采摘机构与视觉关联精确定位的仿真,能有效地指导实际作业环境中采摘机械手精确定位的优化设计。 相似文献
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Augmented reality (AR)-based programming using the demonstration method has been widely studied. However, studies on AR-based programming for remote robots are lacking because of the limitation of human–computer interaction. This paper proposes an AR-based robot teleoperation system and method using RGB-D imaging and an attitude teaching device. By sending the color and depth images of the remote robot environment to the local side, the operators can complete the teleoperation of the robot at the local side. First, the operators select key positions on the motion path of the robot endpoint from color images via a mouse, and the computer calculates the 3D coordinates of these key points in the robot base coordinate system to complete the position teaching process. In the robot attitude teaching process, the AR technology is used to superimpose the virtual robot model onto the color images of the robot teleoperation environment, so as to make the virtual robot endpoint to move along the teaching path. An operator can use the portable attitude teaching device designed in this study to control the robot movement parameters, such as the attitude and motion speed, during the movement of the virtual robot. After the position and attitude teaching processes, the robot movement trajectory can be generated. To make the base coordinate system of the virtual model consistent with that of the physical robot, we propose an online AR registration method, which does not require manually placing the AR registration marker. The proposed AR-based robot teleoperation system can quickly and easily complete robot teleoperation at the local side. 相似文献