摘要
为开发基于虚拟现实的机器人临场感仿真实验平台,提出并研究一种新的机器人力觉临场感仿真方法,以虚拟三自由度机器人为具体实例进行详细分析。首先将整个仿真过程离散化,在每个离散点上计算出虚拟机器人末端的力,再通过建立合理的力反馈计算模型,得出操作者感觉到的力与关节力矩之间的离散型递推方程,最后开发相应程序,以进行力觉临场感仿真实验,仿真结果表明该算法的有效性。
In order to develop telepresenee simulation experimental platform for robots based on virtual reality, it is proposed and studied that a new method of haptic simulation for robots, and take 3-DOF （ degree of freedom） robots for good example to analyze in detail, firstly, whole simulation process will be discrete, and calculated force of endpoint of robots in every discrete point, and obtained discrete recursive equation between sensing force and joint torque through building reasonably force feedback model, finally, compiled corresponding VS （visual studio） program to conduct haptic telepresence simulation experiment, its simulation result proves the validity of the algorithm.
出处
《机械强度》
CAS
CSCD
北大核心
2012年第6期844-848,共5页
Journal of Mechanical Strength
基金
国家留学基金委资助项目(2008101103)~~
关键词
机器人
力觉
临场感
仿真
Robots
Haptic
Telepresence
Simulation
