共查询到18条相似文献,搜索用时 171 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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提出了可定量评价遥控作业系统力觉临场感程度的指标函数,以此导出基于最佳力觉临场感的一种新的无源控制算法。实验表明该算法保证了系统在通讯时延下的稳定性和操作者的正确感知。 相似文献
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通过分析遥控焊接过程机器人与工件接触力误差目标轨迹,在遥控焊接力觉仿人智能运动控制级控制基础上,建立了遥控焊接力觉仿人智能参数校正级控制基元集合、特征模型、多模态控制和多目标推理决策规则.实验表明,通过遥控焊接仿人智能力觉参数校正级控制,能减小焊接力觉实际相轨迹与理想相轨迹误差,使焊接操作者产生较好的力觉临场感效果,增强对遥控焊接复杂任务的操作能力,提高遥控焊接质量. 相似文献
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针对作业环境的复杂性与不确定性,提出采用模糊理论对系统控制器进行在线实时调整,介绍了力学临场感遥控作业系统和如何利用模糊理论对PID控制参数的在线调整方法,给出了实验装置及其结果。 相似文献
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针对作业环境的复杂性与不确定性,提出采用模糊理论对系统控制器参数进行在线实时调整.介绍了力觉临场感遥控作业系统和如何利用模糊理论对PlD控制参数的在线调整方法,给出了实验装置及其结果. 相似文献
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虚拟现实力觉临场感遥操作机器人系统的稳定性 总被引:1,自引:0,他引:1
具有良好的可操作性,又能确保系统稳定性是解决力觉临场感遥操作机器人系统时延问题的根本。本文阐述了采用Popov超稳定性理论分析并研究虚拟现实力觉临场感遥操作机器人系统的稳定性问题是行之有效的,并给出了其分析方法,指出Popov超稳定性与无源稳定性理论是条件一致的。实验显示本文所给出的方法的有效性。本文的论述对于系统的设计极具价值。 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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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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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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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