摘要
在遥操作系统中,预测仿真中存在的建模误差和运动累计误差严重影响遥操作的安全性、精度和效率。采用增强现实技术可以有效地解决该问题。采用视频融合和物体定位技术,操作者可以方便地对比仿真规划结果和实际机器人执行结果之间的差异,并可以通过修正和更新仿真模型来补偿建模误差和运动累积误差。实验结果表明该系统不但可以有效地消除通讯时延的影响,还可以提高遥操作的精度和效率。
In teleoperation system with large time delay, modeling error and accumulated motion error existing in predictive graphical simulation can seriously degrade the security, fidelity and efficiency of teleoperation. The problem can be overcome by applying augmented reality in teleoperation system. By using video overlay and object location technology, the operator can easily compare the planning result of simulation with the actual result of the robot, and the errors can be compensated by modifying and updating the simulated model. Experimental results demonstrate that the system can not only overcome the large time delay effectively, but also improve the fidelity and efficiency of teleoperation.
出处
《系统仿真学报》
CAS
CSCD
2004年第5期943-946,共4页
Journal of System Simulation
基金
863计划资助项目(863-2001AA422250)
关键词
增强现实
遥操作
虚拟现实
时延
augmented reality
teleoperation
virtual reality
time delay
