摘要
针对载人潜水器水下作业机械手操作人员的培训中存在培训成本高、安全风险大的问题,以我国第一台载人深潜器"蛟龙号"为仿真原型建立三维物理模型。采用D-H方法建立搭载机械手的运动学模型,并求出正、逆运动学解;利用VC++及OpenGL图形库搭建机械手运动学算法的验证与解算平台;基于虚拟现实技术、碰撞检测技术以及三维交互技术,调用运动学解算接口,实现机械手水下作业过程的交互仿真开发。
Aiming at the problems of high training cost and safety risk in the training of manned submersible manipulator operator,the first manned deep submergence“Jiaolong”was taken as the simulation prototype to establish the three-dimensional physical model.An underwater operation simulation platform was developed,and the D-H method was used to establish the kinematic model of its carrying manipulator,so as to obtain the positive and inverse kinematics solutions.VC++and OpenGL Graphic Library were used to build verification and solution platform of manipulator′s kinematics algorithm.Based on the virtual reality technology,collision detection technology,three-dimensional interactive technology and calling the kinematics solution interface,the interactive simulation development of the underwater operation process of the manipulator was realized.
作者
张晓曦
尹勇
ZHANG Xiao-xi;YIN Yong(Key Laboratory of Marine Simulation&Control for Ministry of Transportation, Dalian Maritime University,Dalian Liaoning 116026,China)
出处
《船海工程》
北大核心
2018年第5期105-109,共5页
Ship & Ocean Engineering
基金
国家海洋局海洋公益性行业科研专项(201505017-4)
云南省交通运输厅科技计划(云高科2013(A)01)
交通运输部交通青年科技英才项目(36260401)
中央高校基本科研业务费(3132016310)
关键词
机械手
运动模型
虚拟现实
交互
manipulator
motion model
virtual reality
interaction
