期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

基于适应性虚拟向导的遥操作机器人系统 被引量：3

Research on adaptive virtual guide based telerobotics
在线阅读 下载PDF
导出
摘要 为了克服遥操作系统中网络时延的影响,采用Java3D技术建立一种基于虚拟向导的遥操作机器人虚拟环境.针对机器人执行任务时自由空间及障碍物的不同,提出了自动、半自动及手动三种控制模式,并建立了“手爪导向球”、“路径点导向向导”、“同步影像向导”多种适应性虚拟向导,辅助操作者引导手爪运动,从而提高了系统的操作效率及安全性.通过对典型操作实例的分析,验证了该方法的有效性. To overcome the influence of time delay on teleoperation, a virtual guide based telerobotic system constructed by Java3D technology is designed. Automatic, semi-automatic and manual operation modes are presented. A series of adaptive virtual guide, such as ＂gripper guide sphere＂, ＂path point guide＂ and ＂synchronous image guide＂ are proposed, to assist operators in guiding the motion of the gripper. So the efficiency and safety of the system are improved. A typical experiment is built to verify the validity of the method.
作者 闫继宏 赵楠 赵杰 高胜
机构地区 哈尔滨工业大学机器人研究所 大庆石油学院机械科学与工程学院
出处 《哈尔滨工业大学学报》 EI CAS CSCD 北大核心 2007年第1期59-63,共5页 Journal of Harbin Institute of Technology
基金 国家高技术研究发展计划资助项目(2001AA422250)
关键词 机器人 遥操作 虚拟现实 虚拟向导 robot teleoperation virtual reality virtual guide
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献9

  • 1HIRZINGER G,BRUNNER B,DIETRICH J.Sensor-based space robotics ROTEX and its telerobotics features[J].IEEE Transactions on Robotics and Automation,1993:649-663.
  • 2BRSEIE D.Tool for Remote Control of Mobile Robots with Visualization by Means of Virtual Reality[C]//7th Internetional Conference on Telecommunications.[S.l.]:IEEE,2003:673-675.
  • 3ELHAJJ I,XI N,FUNG W K,et al.Modeling and control of internet based cooperative teleoperation[C]//Proceedings of the 2001 IEEE International Conference on Robotics &Automation.Seoul:Omnipress,2001:662-667.
  • 4COSTAS ST.Teleplanning by human demonstration for VR-based teleoperation of a mobil robotic assistant[C]//IEEE International Workshop on Robot and Human Interactive Communication.[S.l.]:IEEE,2001:462-467.
  • 5赵杰,高胜,闫继宏,高永生,蔡鹤皋.基于虚拟向导的多操作者多机器人遥操作系统[J].哈尔滨工业大学学报,2005,37(1):5-9. 被引量：5
  • 6YAN Jihong,ZHAO Jie,CAI Hegao.Coordinated controller of internet-based multi-telerobot cooperation[C]//Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems.Sendai:[s.n.],2004:1469-1474.
  • 7HABIB M K,ASAMA H.Efficient method to generate collision free paths for autonomous mobile robot based on new free space structuring approach[C]//IEEE International Workshop on Intelligent Robots and Systems.[S.l.]:IEEE,1991:563 -567.
  • 8刘彩虹,胡吉全,齐晓宁.基于混合遗传算法的连续空间下机器人的路径规划[J].武汉理工大学学报（交通科学与工程版）,2003,27(6):819-821. 被引量：12
  • 9赵明国,赵杰,崔泽,蔡鹤皋.Internet模型与网络遥操作系统仿真环境的建立[J].高技术通讯,2002,12(7):63-67. 被引量：8

二级参考文献14

  • 1艾弗列尔．M．劳 惠益民（译）.模拟系统的建模与分析[M].清华大学出版社,1987..
  • 2BELOUSOV I R, CHELLALI R, CLAPWORTHY G J.Virtual reality tools for intemet robotics[ A ]. Proceedings of the 2001 IEEE International Conference on Robotics and Automation[ C]. Seoul: Omnipress, 2001. 1878 -1883.
  • 3MARIN R, SANZ P J, SANCHEZ K S. A very high level interface to teleoperate a robot via web inchuding augmented reality [ A ]. Proceedings of the 2002 IEEE International Conference on Robotics and Automation [ C ].Washington : Omnipress, 2002. 2 725 - 2 729.
  • 4CHEN Yimin, ZHANG Tao, WANG Di, et al. A robot simulation, monitoring and control system based on network and java3D[A]. Proceedings of the Fourth World Congerss on Intelligent Control and Automation [ C ].Shanghai :2002, 139 - 143.
  • 5ROSENBERG L B. Virtual fixtures:perceptral tools for telerobotic manipulation[ A ]. Virtual Reality Annual International Symposium[ C], 1993. 76 - 82.
  • 6OTMANE S, MALLEM M, KHEDDAR A, et al. Active virtual guides as an apparatus sor augmented reality based telemanipulation system on the internet [ A ]. Proceedings of 33rd Simulation Symposium[ C], 2000, 185 - 191.
  • 7SAYERS C, ; PAUL R. Synthetic fixturing [ A ]. ASME Winter Annum Meeting[ C], 1993, 37 -46.
  • 8OHAB K, KAWABATA S, CHONG N Y, et al. Remote collaboration through time delay in multiple teleoperation[ A ]. Proceedings of IEEE/RSJ International Conference on Intelligent Robot and Systems[ C], 1999. 1866-1871.
  • 9HIRZINGER G, BRUNNER B, DIETRICH J, et al.Sensor-based space robotics - ROTEX and its telerobotics features[ J]. IEEE Transactions on Robotics & Automation, 1993, 9(5) : 649 -663.
  • 10SHERIDAN T B. Space teleoperation through time delay : review and prognosis [ J ]. IEEE Transactions on Robotics and Automation, 1993, 9(5) :592 -606.

共引文献22

同被引文献31

  • 1黄玉明,李庚田,何柏年,秦金明.空间机器人的主从和自主控制[J].控制工程（北京）,1993(2):11-18. 被引量：1
  • 2赵杰,高胜,闫继宏,高永生,蔡鹤皋.基于虚拟向导的多操作者多机器人遥操作系统[J].哈尔滨工业大学学报,2005,37(1):5-9. 被引量：5
  • 3赵猛,张珩,陈靖波.灵境遥操作技术及其发展[J].系统仿真学报,2007,19(14):3248-3252. 被引量：6
  • 4ODA M, DOI T. Teleoperation system of ETS - Ⅶ robot experiment satellite [ C ]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Grenoble:[s.n.], 1997: 1644-1650.
  • 5LANDZETTEL K, BRUNNER B, DEUTRICH K, et al. DLR's experiments on the ETS - VII space robot mission [ C ]// 9th International Conference on Advanced Robotics. Tokyo : [ s. n. ], 1999.
  • 6MA O. On the validation of SPDM task verification facility [J]. Journal of Robotic Systems,2004, 21(5) : 219 -235.
  • 7WANG X Q, xu w F, LIANG B, et al. General scheme of teleoperation for space robot [ C ]//IEEE/ ASME International Conference on Advanced Intelligent Mechatronics. Xi'an: IEEE, 2008 : 341 - 346.
  • 8HIRZINGER G, BRUNNER B, DIETRICH J, et al. Sensor-based space robotics-ROTEX and its telerobotic features [ J]. IEEE Transaction on Robotics and Automation, 1993, 9(5): 649-663.
  • 9崔锦实,连广宇,孙增沂.大时延遥操作系统中的图形技术与模型修正[C]//中国智能自动化会议论文集:上册.昆明:[s.n.],2001:577-581.
  • 10BRUNNER B, LANDZETTEL K, SCHREIBER G, et al. A universal task-level ground control and programming system for spacerobot applications[C]. International Symposium on Artificial Intelligence, Robotics and Automation in Space. Noordwijk:[s.n. ], 1999:507-514.

引证文献3

二级引证文献13

哈尔滨工业大学学报
2007年 第1期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部