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研究开发出一种遥操作工程机器人系统 ,可以应用于诸如火灾现场的修复作业等广阔的领域 .该系统由伺服控制的工程机器人、2根从远处操纵工程机器人的操纵杆、视频系统和 6自由度运动模拟器组成 .操作者坐于座椅上 ,座椅固定于运动模拟器的上方 .该系统需要解决的一个关键问题是如何使操纵者高质量地获得工作现场的临场运动感觉 .提出了一种 6自由度临场运动感觉反馈方法 ,其信号源来自工程机器人上安装的 6个加速度传感器 .该方法的有效性已为实验所证明 ,即应用 6自由度运动模拟器不但可以高质量地模拟工程机器人单个自由度的运动 :滚动、俯仰、转动以及前后、左右、上下的平移 ,而且可以高质量地模拟工程机器人的各种复合运动 .
Research and development of a teleoperation engineering robot system that can be applied to a wide range of fields such as repair work on a fire site.The system consists of servo-controlled engineering robot, two remote manipulating engineering robot joystick, video system and 6 Degree of freedom motion simulator.The operator is seated on the seat and the seat is fixed above the motion simulator.The key problem that the system needs to solve is how to make the manipulator get the good feeling of the on-the-spot movement at the working site. A six-degree-of-freedom on-the-spot motion-sensing feedback method is derived from six accelerometers installed on the engineering robot.The effectiveness of this method has been experimentally demonstrated by applying a 6-DOF motion simulator to high-quality Simulation of a single degree of freedom of engineering robot movement: rolling, pitch, rotation and around, around, up and down translation, and high-quality simulation of engineering robot can be a variety of complex movements.