Design of research platform on telerobot system based on virtual reality technology

作     者：陈俊杰 黄惟一 宋爱国 奚维旸 林纯 Chen Junjie;Huang Weiyi;Song Aiguo;Xi Weiyang;LIN Chun

作者机构：东南大学仪器科学与工程系南京210096 南通工学院自动化系南通226007 

基　　金：TheNationalHighTechnologyResearchandDevelopmentProgramofChina (863Program ) (No .2 0 0 2AA742 0 48)  ChinaPostdoctoralScienceFoundation 

出 版 物：《Journal of Southeast University(English Edition)》 (东南大学学报（英文版）)

年 卷 期：2004年第20卷第1期

页      码：80-84页

摘      要：A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.

主 题 词：Computer simulation Computer software Data structures Manipulators Remote control Virtual reality 

学科分类：080202[080202] 08[工学] 080203[080203] 0804[工学-材料学] 0802[工学-机械学] 

核心收录：

D　O　I：10.3969/j.issn.1003-7985.2004.01.017

馆 藏 号：203105977...