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介绍了基于视觉临场感的机器人遥操作系统。该系统有机地把视觉临场感技术和机器人遥操作技术结合在一起 ,显著地提高了遥操作系统的性能。系统自主研制了视觉临场感系统 ,在普通的微机上实现了时分多路的立体视觉系统。自主研制了PSD实时测量和位姿解算系统 ,实现了操作者的手部位姿的实时测量。深入地研究了机器人实时跟踪控制的算法 ,并在原有PUMA56 0机器人的基础上改造了核心控制软件 ,实现了机器人对操作者手部运动的实时跟踪。最后完成的演示系统在遥操作性能上比传统的系统有了显著的提高。
This paper introduces a robot teleoperation system based on visual presence. The system organically combines visual telepresence with robotic teleoperation to significantly improve the performance of teleoperation systems. System developed a visual presence system, in the ordinary computer to achieve a time-multiplexed stereo vision system. Self-developed PSD real-time measurement and posture solution system, to achieve the operator’s hand posture real-time measurements. In-depth study of the real-time tracking robot control algorithm, and in the original PUMA56 0 robot based on the transformation of the core control software to achieve the robots on the operator’s hand movement tracking in real time. The final demonstration system has significantly improved the teleoperation performance over the traditional system.