摘要
为了消除时间延迟对遥控操作系统稳定性的影响,提出了基于虚拟现实(VR)预显示的两级遥操作控制结构的仿真系统方案。文章重点讨论了虚拟环境的建模技术,建立了基于摇杆-转向架的月球机器人的实体模型。最后用月球机器人爬坡的仿真验证了所建模型的正确性和可行性。
For the purpose of dispelling the time delay impact on the stability of theteleoperation system, a scheme aboutthe simu- lation system of lunar rover teleoperation based on virtual reality (VR) preview ispresented. The technolgy of modelling in virtual enviroment is mainly studied. Anentity model of lunarrover based on rocker and redirectorisestablished. Finally, theeffectiveness and the feasibility of the model are verified by means of the climb simulation of the virtual lunar rover.
出处
《燕山大学学报》
CAS
2005年第4期337-340,共4页
Journal of Yanshan University
关键词
虚拟现实
遥操作
月球机器人
仿真
virtual reality
teleoperation
lunar rover
simulation
