摘要
针对传统遥操控机器人系统实现环境不佳,导致系统控制效果差、时延长及图像匹配准确率低等问题,提出并实现了一种基于虚拟现实的遥操控机器人系统.首先,基于虚拟现实技术设计系统整体结构,分为人机接口部分、信息传输和遥机器人三个部分;其次,通过坐标计算构建移动机械手运动学模型,采用三目摄像机完成图像立体匹配,基于数据手套实现手势输入,完成系统人机交互设计,实现人机接口设计;然后,双向通信进行数据传输设计;最后,利用同步显示和预测显示结合的方式控制系统.实验结果表明,该系统的立体视觉图像匹配准确率高达90%以上,网络通信时延短,且系统控制效果较好.
Aiming at the problems of poor environment of traditional remote control robot system,which leads to poor system control effect,time extension and low image matching accuracy,a kind of remote control robot system based on virtual reality is proposed and realized.Firstly,the overall structure of the system is designed based on virtual reality technology,including man-machine interface,information transmission and telerobot;Secondly,the kinematic model of mobile manipulator is constructed by coordinate calculation,the image stereo matching is completed by using trinocular camera,gesture input is realized based on data glove,the human-computer interaction design of the system is completed;Then the data transmission design is carried out by two-way communication;Finally,the system is controlled by the combination of synchronous display and predictive display.The experimental results show that the stereo vision image matching accuracy of the system is as high as 90%,the network communication delay is low,and the control effect of the system is good.
作者
石妍
SHI Yan(School of Industrial Design,Hubei University of Technology,Wuhan 430068,CHN)
出处
《制造技术与机床》
北大核心
2020年第9期65-70,共6页
Manufacturing Technology & Machine Tool
关键词
虚拟现实
遥操控机器人
控制
运动学
立体匹配
人机交互
双向通信
virtual reality
teleoperation robot
control
kinematics
stereo matching
human-computer interaction
two-way communication
