摘要
根据力反馈设备PHANToM和6自由度机械手臂结构的相似性,构建了一个基于PHANToM关节驱动的6自由度虚拟机械手臂模型,为了使该虚拟机械手臂模型具有力反馈的功能,提出了一种基于机器人运动学分析的空间匹配方法。基于该虚拟机械手臂模型,提出了基于力反馈引导的虚拟示教式机械手臂装配路径规划方法,该方法通过人工势场法计算反馈力,操作者可以通过操作力反馈设备PHANToM来控制虚拟机械手臂的运动,在反馈力的引导下结合操作者的经验和决策能力以虚拟示教的方式完成装配路径的粗略规划,使用基于距离准则的单端搜索法和人机交互方式对粗略路径和装配零件的姿态进行优化,最后通过动画的形式模拟机械手臂的装配过程,以供用户对该路径进行评价。
According to the structural similarity between PHANTOM haptic device and six-DOF （Degree of Freedom） articulated robot arm, a six DOF virtual robot arm driven by PHANTOM was modeled. In order to enable the virtual robot arm to haptically interact with virtual assembly environment, a workapace mapping method based on robot kinematics analysis was proposed Based on above-mentioned virtual robot arm model a robot arm assembly path planning method based on force feedback virtual teaching was proposed. With the help of both feedback force guideline, which was estimated by potential field method, and user＇s experiences and decision-making ability, the rough path planning process was conducted in a virtual teaching way. An improved optimal method and human-machine interaction method were employed to optimize the rough path and part posture. At last, the assembly process was shown in animation way by leading the assembly part move along optimized path, which provided user with the ability to evaluate the optimized path.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第10期2945-2950,共6页
Journal of System Simulation
关键词
虚拟装配
路径规划
虚拟机械手臂模型
空间匹配
虚拟示教
力反馈渲染
virtual assembly
path planning
virtual robot arm model
workspace mapping
virtual teaching
haptie rendering
