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针对绳驱超冗余空间柔性机械臂的运动特点和在大范围工作空间快速运动、避障及狭小空间作业和触碰情况下精细操作等在轨遥操作任务需求,设计并研制了适应多种工况的基于手控器和虚拟现实(VR)手柄组合的遥操作人机交互系统。对狭小空间作业和避障等工况进行分析,提出了基于自由度动态组合和末端―臂形同步规划的遥操作方法。最后,完成了穿越卫星太阳帆板狭缝的典型实验,实验验证了遥操作系统的工程实用性,以及柔性机械臂遥操作运动规划方法的可行性。因此,配合使用多种人机交互方式组合的遥操作系统和相应的运动规划方法,可使操作者以更加直观自然的方式参与到遥操作系统中,有效提高操作员完成复杂遥操作任务的安全性和操作性能。 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
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为了克服遥操作机器人系统通讯时延,并保证系统稳定性和透明性,在定义了最佳碰撞收敛速度并阐述了其确定方法的基础上,从更适用性意义出发,设计并研究了一套基于虚拟现实技术的遥操作机器人系统控制结构和控制算法,阐述了其系统的实现手段,使系统对几何建模误差和动力学建模误差均具有较强的鲁棒性.实验结果显示了其方法的有效性. 相似文献
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《Advanced Robotics》2013,27(8):789-806
Interest in tele-operation started many decades ago. Today, tele-operation is becoming a reality with improved tele-communication systems. Bilateral control is also a subset of tele-operation. Usually in bilateral control, force position information is exchanged between a master and a slave. This structure successfully transmits tactile sensation from the slave environment to the master operator. A bilateral control system is capable of transmitting tactile sensation to the master side. This capability is also known as the transparency of the system. If bilateral control is used in a surgery, ideally the medical doctor should sense the feeling coming from the body tissue together with the reaction force of the special surgical tool. We have previously proposed a method to eliminate the special surgical tool with a simple tool tip and a virtual tool model. However, a physical tool as well as the proposed virtual tool add impedance to the system. Even if a virtual model is used, impedances are essential to carry out the tool action. In this paper, a novel method is proposed to switch off and on the virtual tool model when the tool action can be replaced by the environmental reaction forces. An experiment was carried out using a bilaterally controlled forceps robot. Results show the applicability of the idea. 相似文献
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《Ergonomics》2012,55(2):137-153
This article is considered relevant because: 1) car driving is an everyday and safety-critical task; 2) simulators are used to an increasing extent for driver training (related topics: training, virtual reality, human – machine interaction); 3) the article addresses relationships between performance in the simulator and driving test results–a relevant topic for those involved in driver training and the virtual reality industries; 4) this article provides new insights about individual differences in young drivers' behaviour. Simulators are being used to an increasing extent for driver training, allowing for the possibility of collecting objective data on driver proficiency under standardised conditions. However, relatively little is known about how learner drivers' simulator measures relate to on-road driving. This study proposes a theoretical framework that quantifies driver proficiency in terms of speed of task execution, violations and errors. This study investigated the relationships between these three measures of learner drivers' (n = 804) proficiency during initial simulation-based training and the result of the driving test on the road, occurring an average of 6 months later. A higher chance of passing the driving test the first time was associated with making fewer steering errors on the simulator and could be predicted in regression analysis with a correlation of 0.18. Additionally, in accordance with the theoretical framework, a shorter duration of on-road training corresponded with faster task execution, fewer violations and fewer steering errors (predictive correlation 0.45). It is recommended that researchers conduct more large-scale studies into the reliability and validity of simulator measures and on-road driving tests. 相似文献
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This article is considered relevant because: 1) car driving is an everyday and safety-critical task; 2) simulators are used to an increasing extent for driver training (related topics: training, virtual reality, human-machine interaction); 3) the article addresses relationships between performance in the simulator and driving test results--a relevant topic for those involved in driver training and the virtual reality industries; 4) this article provides new insights about individual differences in young drivers' behaviour. Simulators are being used to an increasing extent for driver training, allowing for the possibility of collecting objective data on driver proficiency under standardised conditions. However, relatively little is known about how learner drivers' simulator measures relate to on-road driving. This study proposes a theoretical framework that quantifies driver proficiency in terms of speed of task execution, violations and errors. This study investigated the relationships between these three measures of learner drivers' (n=804) proficiency during initial simulation-based training and the result of the driving test on the road, occurring an average of 6 months later. A higher chance of passing the driving test the first time was associated with making fewer steering errors on the simulator and could be predicted in regression analysis with a correlation of 0.18. Additionally, in accordance with the theoretical framework, a shorter duration of on-road training corresponded with faster task execution, fewer violations and fewer steering errors (predictive correlation 0.45). It is recommended that researchers conduct more large-scale studies into the reliability and validity of simulator measures and on-road driving tests. 相似文献
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该文介绍了运用虚拟现实技术完成对交通流微观仿真模型的实现,路网的微观交通流的分配与布置方法,和运用VC 和OpenGL实现微观交通流的仿真的其它技术细节(如道路数据的保存方法,网络交通流数据处理等)。研制出的仿真系统能模拟真实道路微观交通流现象,为进一步开发交通控制和规划仿真软件打下了基础,该仿真平台也丰富了我校自行研制的驾驶模拟器的功能。 相似文献
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本文以虚拟小镇为例,首先构造出虚拟小镇系统框架;通过建立虚拟场景模型,对虚拟场景驱动,编程控制场景,快速建立并实现简单的虚拟小镇系统。研究表明,利用虚拟现实工具可以快速建立简单的虚拟现实系统,大大缩短虚拟现实系统的开发周期,节省资金和人力。在此基础上,对系统的基本功能加以扩展,加入一些分析功能以实现工程上的应用,有助于虚拟现实技术在工程上的进一步研究。 相似文献
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In this article, the idea of multipurpose fuzzy semantic enhanced 3D virtual reality simulator for the evaluation of maritime robot algorithms, and for the analysis of maritime missions is presented. The simulator uses the digital mockup technology in blending with semantic domain knowledge of the system, to analyze the tasks remotely. The 3D virtual reality (VR) is proposed to help the operators provide the detailed information and guidance during real-time tele-operations, and the incorporation of fuzzy semantic knowledge makes the virtual environment intelligent and automatic. The integration of fuzzy scene independent ontology with the virtual environment (VE) engenders a knowledge driven inter operable virtual environment which eases the user in natural language querying, personalization, interpretations and manipulation. The distinctive semantic VR scene builder utility of the proposed system draws the VR environment automatically while getting the high level specification of the system for the client. The proposed simulator can be effectively used for real-time robots trainings and for the evaluation of AI based algorithms designed for intelligent vessels and AUV’s without knowing the complex underlying VR scene building technologies. Furthermore, it provides the benefits to optimize the pre-process physical environment operations to mimic the real world into a virtual environment. The remote operations and feasibility analysis performed on virtual simulator can efficiently save the cost, time and claims to provide the operators a preprocessor information and guide. 相似文献
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利用虚拟现实技术,研究了防空火控系统仿真平台的设计与实现.给出了系统的硬件和软件总体架构,重点讨论了软件部分的实现方法.该仿真平台是基于Windows NT,利用World Tool Kit for NT、Opcn GL和VC 6.0等工具实现的,并已部分产品化投入使用. 相似文献
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为解决传统模拟驾驶过于强调正常场景的训练,缺少对意外场景下学员心理状态 的监测与协助,且无法反馈和评价驾驶心理状态等问题。以脑机交互(BCI)技术与虚拟现实(VR) 为基础开发 VR 模拟驾驶教学演示系统,利用三维动力学引擎开发了驾驶模拟操作系统,在硬 件上设计可穿戴式脑电波信号检测头盔,基于 BCI 技术实现对学员模拟驾驶大脑状态的监控与 数据评估;有突发模拟事件发生时,系统通过脑机接口技术自动制动或辅助驾驶。在完成模拟 驾驶训练的同时可以根据脑波(EEG)反馈在意外事件中给出紧急解救措施,根据 EEG 情况评估 学员的发挥以及心理素质,为虚拟驾驶等认知负荷较高的教学训练提供了更为丰富与直观沉浸 式交互操作方式,提高了该领域教学训练系统的实用性与可用性。 相似文献