【摘要】 针对一般遥操作机器人实时运动监控的不足之处,提出一种新型遥操作机器人运动实时三维监控方法。首先根据遥机器人外形建立一个虚拟机器人三维外观网格模型,再根据机器人本体内部的关节及其他运动机构的位置,建立一个内嵌于网格模型下的骨骼模型;经过坐标、数学模型转换,把遥机器人运动学模型应用到虚拟机器人骨骼模型上,实现遥机器人与机器人骨骼模型的运动学模型一致。通过无线发送把遥机器人运动数据传输到监控端,利用Direct3D编程计算把运动数据转换成虚拟机器人运动指令,运动指令控制骨骼模型运动,骨骼模型的运动同时驱动虚拟机器人三维网格模型运动,虚拟机器人三维模型将产生一个与遥机器人同步运动的动画,从而实现了对遥操作机器人运动的三维监控。更多还原

【Abstract】 Aiming at the shortcomings of common telerobots in movement monitoring,a new real-time 3D monitoring method for telerobot movement is presented.Firstly,a virtual 3D mesh model is created based on the telerobot’s outline and a skeleton model embedded in the mesh model is built according to the positions of the telerobot’s internal joints and other moving mechanism.The kinematic model of the telerobot is applied to the virtual skeleton model,and the kinematic consistency between the telerobot and skeleton model is realized through coordinates and mathematical model transformation.The telerobot’s motion data are transmitted to the receiver of the monitoring terminal through wireless transmission and the motion data are converted into the moving instructions that control the motion of the skeleton model.At the same time,the motion of the skeleton model drives the motion of the virtual robot and the 3D model generates a synchronized animation,which realizes the 3D monitoring of the telerobot movement.更多还原