[1]高龙琴,许志峰,黄惟一,等.交互式遥操作机器人实验平台设计及其应用[J].东南大学学报(自然科学版),2004,34(6):775-779.[doi:10.3969/j.issn.1001-0505.2004.06.013]
 Gao Longqin,Xu Zhifeng,Huang Weiyi,et al.Design and application of experimental platform for interactive teleoperation robot[J].Journal of Southeast University (Natural Science Edition),2004,34(6):775-779.[doi:10.3969/j.issn.1001-0505.2004.06.013]
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交互式遥操作机器人实验平台设计及其应用()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
34
期数:
2004年第6期
页码:
775-779
栏目:
自动化
出版日期:
2004-11-20

文章信息/Info

Title:
Design and application of experimental platform for interactive teleoperation robot
作者:
高龙琴12 许志峰1 黄惟一1 宋爱国1
1 东南大学仪器科学与工程系, 南京 210096; 2 扬州大学机械工程学院, 扬州 225009
Author(s):
Gao Longqin12 Xu Zhifeng1 Huang Weiyi1 Song Aiguo1
1 Department of Instrument Science and Technology, Southeast University, Nanjing 210096, China
2 Mechanical Engineering Institute, Yangzhou University, Yangzhou 225009, China
关键词:
交互式遥操作 临场感 虚拟现实 预见显示 通信时延
Keywords:
interactive teleoperation tele-presence virtual reality predict display communication delay
分类号:
TP242
DOI:
10.3969/j.issn.1001-0505.2004.06.013
摘要:
实验平台由主机械手、从机器人、远程视频监控和虚拟从手4个子系统组成,其中主手为自行研制的HC01异构式力反馈手控器,从手为日本安川公司的MOTOMAN-SV3X型6自由度工业机器人.在此平台上可以进行通信时延、遥操作工作模式、临场感技术、虚拟现实技术和交互技术等方面的研究.最后,以预见显示模式为例,进一步说明了实验平台的用途和用法.实验表明,在30 s大时延情况下,预见显示模式时主手可以成功控制从手完成物体的抓取、移动和放置等操作.
Abstract:
The platform consists of master manipulator, slave robot, remote monitor system and virtual slave hand. The master manipulator adopted HC01 heterogeneous force-reflecting hand controller made by the authors, and the slave hand adopted MOTOMAN-SV3X 6 DOF industry robot. Based on this platform, communication delay, tele-presence technology, virtual reality technology, interactive technology, and teleoperation mode etc. can be studied. Then with an example of predict display mode, the application of this experiment platform are further described. With 30s large time delay, the slave robot controlled by master manipulator can successfully performed some typical tasks such as grabbing, moving, laying and so on in predict display mode.

参考文献/References:

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备注/Memo

备注/Memo:
基金项目: 国家高技术研究发展计划(863计划)资助项目(2001AA423140).
作者简介: 高龙琴(1966—),男,博士生; 黄惟一(联系人),男,教授,博士生导师,hhwy@seu.edu.cn.
更新日期/Last Update: 2004-11-20