| 面向排爆机器人的虚拟仿真训练系统设计与实现 |
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| 引用本文： | 王田苗,李雪雯,孟偲,梁建宏. 面向排爆机器人的虚拟仿真训练系统设计与实现[J]. 高技术通讯, 2006, 16(6): 580-585 |
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| 作者姓名： | 王田苗 李雪雯 孟偲 梁建宏 |
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| 作者单位： | 北京航空航天大学机器人研究所,北京,100083;北京航空航天大学机器人研究所,北京,100083;北京航空航天大学机器人研究所,北京,100083;北京航空航天大学机器人研究所,北京,100083 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 针对排爆机器人使用和训练的需求,设计并实现了一套排爆机器人虚拟仿真训练系统.首先分析了排爆机器人的常见结构,针对一种通用结构设计的排爆机器人设计了仿真训练系统的结构,并对仿真系统的几何建模、运动模型和碰撞检测进行了分析,最后实现了排爆机器人虚拟仿真训练系统.该系统使操作手能够熟悉并掌握排爆机器人的操作.
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| 关 键 词： | 排爆机器人 几何建模 运动建模 虚拟仿真 |
| 收稿时间： | 2005-07-26 |
| 修稿时间： | 2005-07-26 |
Design and implementation of virtual simulation and training system for explosive ordnance disposal (EOD) robots |
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| Wang Tianmiao,Li Xuewen,Meng Cai,Liang Jianhong. Design and implementation of virtual simulation and training system for explosive ordnance disposal (EOD) robots[J]. High Technology Letters, 2006, 16(6): 580-585 |
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| Authors: | Wang Tianmiao Li Xuewen Meng Cai Liang Jianhong |
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| Affiliation: | Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100083 |
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| Abstract: | To meet the needs of EOD robots' application and training, the authors designed and implemented a virtual simulation and training system for EOD robots. First the EOD Robot's ordinary configuration was analysed, and the structure of the simulation system was designed according to a kind of common EOD robots, and then the key technologies of the system, such as the geometry modeling, movement modeling and collision detection, were studied. Finally the virtual simulation and training system was implemented. The system can make operators know and do well with the operation of EOD robots. |
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| Keywords: | EOD robot geometry modeling movement modeling virtual simulation |
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