摘要
对于Internet遥操作机器人系统存在的网络传输时延问题,基于预测显示方法的虚拟操作环境是解决该问题的主要途径.从提高系统的扩展性与操作性的角度出发,对机器人操作虚拟环境涉及的关键问题进行了研究.首先,采用面向对象方法在Java/Java3D开发平台上构建了机器人操作虚拟环境,从而保证系统具有良好的扩展性.其次,为了提高操作者对远端操作环境的感知能力,基于自制的多传感器智能手爪构造了其图形化信息表达形式.最后,结合操作虚拟环境与智能手爪的长/短激光测距传感器,实现了操作物体空间姿态的实时动态更新,为操作的有效性提供了有意义的参考信息.
To solve the problem of time-delay existing in Intemet tele-robotics, the approach of predictive display based virtual environment is usually selected. Studies several key issues of the virtual environment in order to improve its abilities of extension and operation. Firstly, object-oriented method is used to construct the virtual environment on a platform using Java/Java3D, which can satisfy the need of flexible extensions of the system. Secondly, graphic representations of multi-sensor information are presented on the basis of self-made multi-sensor gripper to improve the ability of an operator to carry out a given task. Finally, the real-time updating of remote objects in the virtual environment is implemented through multiple long/short laser sensors. As a result, operative capabilities of the operator to perform remote complex tasks can be enhanced greatly.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2006年第4期649-653,共5页
Journal of Harbin Institute of Technology
基金
国家高技术研究发展计划资助项目(2001AA422250)