| 遥操作机器人系统中虚拟环境的构建 |
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| 引用本文： | 周晓晶. 遥操作机器人系统中虚拟环境的构建[J]. 现代电子技术, 2006, 29(19): 73-75 |
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| 作者姓名： | 周晓晶 |
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| 作者单位： | 东南大学,江苏,南京,210096 |
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| 摘 要： | 虚拟环境的建模是基于虚拟现实的遥操作机器人系统的关键技术。根据遥操作机器人系统中虚拟环境的组成结构,创建了虚拟机器人和弹性体作业对象的几何模型、运动模型和物理模型,推导了基于弹簧质点模型的弹性体受力和形变的基本方程,并介绍了虚拟现实系统的主要人机接口设备,最后建立了由数据手套控制的机器人抓取弹性小球的虚拟环境的模型。
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| 关 键 词： | 虚拟现实 遥操作机器人 虚拟环境 弹性体 |
| 文章编号： | 1004-373X（2006）19-073-03 |
| 收稿时间： | 2006-04-13 |
| 修稿时间： | 2006-04-13 |
Construction of Virtual Environment in Telerobotic System |
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| ZHOU Xiaojing. Construction of Virtual Environment in Telerobotic System[J]. Modern Electronic Technique, 2006, 29(19): 73-75 |
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| Authors: | ZHOU Xiaojing |
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| Affiliation: | Southeast University, Nanjing, 210096, China |
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| Abstract: | Modeling technology of virtual environment is the key of VR-based telerobotic system.Based on the composition of virtual environment in telerobotic system,constructs geometrical models,motorial models and physical models of virtual robot and elastic operated objects,educes equations of force and deformation of these elastic objects based on mass-spring model and introduces primary man-machine interfaces of virtual reality.Then the models of virtual environment of robotic system controlled by data gloves is developed. |
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| Keywords: | virtual reality telerobotic virtual environment elastic objects |
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