| 基于虚拟现实的空间机器人遥操作地面实验研究 |
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| 引用本文： | 刘冬雨,蒋再男,谢宗武,刘宏. 基于虚拟现实的空间机器人遥操作地面实验研究[J]. 机械与电子, 2010, 0(8): 57-60 |
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| 作者姓名： | 刘冬雨 蒋再男 谢宗武 刘宏 |
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| 作者单位： | 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江,哈尔滨,150080 |
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| 基金项目： | 哈尔滨市科技创新人才基金 |
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| 摘 要： | 以空间机器人在轨服务为背景,建立了基于虚拟现实的机器人臂/灵巧手遥操作地面实验系统,模拟了空间机器人遥操作的情形.系统主要包括虚拟环境建模、人-机交互接口设计、机器人运动学建模和时延模拟环节.利用该遥操作系统,在模拟的地面-空间大时延（约10 s）遥操作条件下,完成了销孔装配的典型空间装配任务.验证了在结构化环境中遥操作时,虚拟现实技术克服大时延影响的有效性.
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| 关 键 词： | 虚拟现实 遥操作 运动学 空间机器人 |
Experiments Research on Virtual Reality Based Space Robot Teleoperation on Ground |
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| LIU Dong-yu,JIANG Zai-nan,XIE Zong-wu,LIU Hong. Experiments Research on Virtual Reality Based Space Robot Teleoperation on Ground[J]. Machinery & Electronics, 2010, 0(8): 57-60 |
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| Authors: | LIU Dong-yu JIANG Zai-nan XIE Zong-wu LIU Hong |
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| Affiliation: | (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China) |
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| Abstract: | As the backgroud of space robot onorbit service,robot arm and dexterous hand teleoperation ground experimental system based on virtual reality has been set up in this paper,simulates the space robot teleoperation.This system involves virtual environment modeling,man-machine interface design,robot system kinematics modeling and time delay modeling design.Utilizing this teleoperation system with 10 s time-delay between ground and space,classical space assemblage tasks,pin-hole assemblage,have been accomplished.Validity of virtual reality in time-delay teleoperation of structured environment has been proved. |
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| Keywords: | virtual reality teleoperation kinematics space robot |
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