摘要
为了研究Stewart平台大时延情况下的远程操作稳定性,建立了相关试验系统.用以太网模拟远程通信信道,连接2套Stewart平台控制系统;利用D irectX技术,对用户屏蔽了具体硬件设备,建立了用户输入接口和视频反馈;利用OpenGL(Open Graphic Library)技术,建立了虚拟操作环境,以便于未来利用虚拟操作环境补偿时延;用神经网络的位置正解方法代替传统方法驱动虚拟模型,获得更高的精度;对通讯的带宽进行在线监控,优先保证指令传输;通过改变发送速率,保证视频连续发送.试验结果表明,用户通过输入指令可以方便地控制平台,平台位姿可以通过虚拟操作环境和视频进行反馈,系统满足了设计要求.
Teleoperation testing system for Stewart platform was developed to study Stewart platform teleoperation stability under condition of large time delay. Ethernet was used to simulate the telecommunication channel, which linked two Stewart platforms control systems. DirectX technology was used to build user input interface and video feedback without consideration of hardware. Open graphic library （OpenGL） technology was used to establish virtual operation environment, through which time delay could be compensated. To obtain higher accuracy, neural network forward kinematics solution, instead of traditional methods, was used to drive virtual models. Communication bandwidth was monitored online to assure operation command~ priority. The continuity of video transmission was guaranteed by changing transmission rate. The result shows that platform is easily controlled by operator＇s command input, position and attitude information is feedback through virtual operation environment and video, testing system meets design requirements.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2006年第7期819-822,共4页
Journal of Beijing University of Aeronautics and Astronautics
基金
国防重点学科建设资助项目
关键词
STEWART平台
远程操作
虚拟操作环境
正解
Stewart platform
teleoperation
virtual operation environment
forward kinematics
