【作者】 张德政； 吴婧； 阿孜古丽；

【Author】 Zhang Dezheng Wu Jing A Ziguli(School of Information Engineering,University of Science and Technology Beijing,Beijing 100083,China)

【机构】 北京科技大学信息工程学院；

【摘要】 为了创建具有良好沉浸感和真实感的虚拟现实操作环境,从而使操作者更直观地感知遥操作机器人所处的工作环境,并准确地发出执行指令,对空间机器人远距离遥操作中的虚拟现实系统进行了研究与开发.利用3D建模与OpenGL等关键技术创建遥操作虚拟环境,通过手柄对真实机械臂与虚拟环境中的模型同时进行控制驱动.操作人员可以改变虚拟环境中的视点和视角,依靠更加生动的视觉临场感信息,实现单一的视频反馈所不能达到的监控效果.在模拟大时延的条件下,利用现场真实的信息去修正预测误差,提高了系统的鲁棒性和抗干扰能力.系统结构清晰,可以进行模块拓展并方便二次开发.更多还原

【Abstract】 A virtual reality system of robot remote teleoperation is developed to create a virtual reality with nice sensibility and reality circumstance,in which the operator can directly feel the working scene of the robots and accurately send commands.By establishing a teleoperation virtual system with 3D modeling and OpenGL technology,the manipulator and the virtual robot model can be controlled with a handle at the same time.The teleoperator can easily accomplish the operation with much more vivid visual telepresence information by changing the camera and the viewpoint of the virtual environment,which cannot be achieved by the single video feedback.For the simulation of the large time-delay conditions,the robustness and anti-interference ability of the system can be improved by using the real information to amend the prediction error.The system has a clear structure,and the application developing and functions expanding are very easy.更多还原