| 基于虚拟环境的遥操作机器人主从交互系统设计 |
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| 引用本文： | 陆庆超,赵杰,闫继宏,陈志峰,马良.基于虚拟环境的遥操作机器人主从交互系统设计[J].机械与电子,2011(7):51-56. |
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| 作者姓名： | 陆庆超 赵杰 闫继宏 陈志峰 马良 |
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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： | 国家"八六三"计划资助项目，哈尔滨市人才专项资金项目，数控机床重大专项课题 |
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| 摘 要： | 针对遥操作机器人系统中的时延问题,设计了一种基于虚拟环境的机器人遥操作主从交互系统.利用Java/Java3D进行分布式虚拟环境以及虚拟机器人的三维建模;通过JNI方法建立主手设备与虚拟环境的交互接口.操作者通过操纵主手而对虚拟机器人进行关节驱动,提高了主从控制的实时性.
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| 关 键 词： | 遥操作 虚拟环境 JNI 主从 |
Design of Master-slave Interactive System for Teleoperation Robot Based on Virtual Environment |
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| LU Qing-chao,ZHAO Jie,YAN Ji-hong,CHEN Zhi-feng,MA Liang.Design of Master-slave Interactive System for Teleoperation Robot Based on Virtual Environment[J].Machinery & Electronics,2011(7):51-56. |
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| Authors: | LU Qing-chao ZHAO Jie YAN Ji-hong CHEN Zhi-feng MA Liang |
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| Affiliation: | (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China) |
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| Abstract: | For the problem of time delay with teleoperation robot system,designed a master-slave interactive system of teleoperation robot based on virtual environment.Utilized Java/Java3D to establish distributed virtual environment and complete models of virtual robots;developed an interactive interface between master device and virtual environment.Operator can control joints of virtual robots with manipulating master device and enhance master-slave control real-time performance. |
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| Keywords: | teleoperation virtual environment JNI master-slave |
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