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基于遥操作安全的预测仿真系统研究
Alternative TitleThe Prediction Simulation System Based on Teleoperation Safety
李波; 赵怀慈; 孙士洁; 花海洋
Department光电信息技术研究室
Source Publication微电子学与计算机
ISSN1000-7180
2014
Volume31Issue:5Pages:98-102
Indexed ByCSCD
CSCD IDCSCD:5134126
Contribution Rank1
Funding Organization921载人航天领域预先研究项目(030202); 辽宁省教育厅科研项目(L2011238)
Keyword遥操作安全 预测仿真 大时延 虚拟夹具
Abstract针对外太空恶劣环境,在分析空间机器人遥操作系统安全隐患基础上提出了遥操作预测仿真系统框架,构建了三维遥操作虚拟场景,同时应用基于虚拟夹具的碰撞检测算法和基于时间戳的修正策略提升了预测仿真系统性能,并给出了与地面实物仿真系统联调验证实验结果.实验结果表明,构建的预测仿真系统运行快速、预测准确,可有效规避遥操作大时延问题,避免误操作导致的实物损伤.
Other AbstractAccording to the severe environment in space, this paper describes the whole simulation scene build on the ground based on teleoperation safety analyses. Corrective Measures based on timestamps and special collision detection algorithm based on virtual fixtures are used to improve the performance of the VR system. Besides, many experiments with real robot show that the VR system described in this paper works efficiently and precisely. It is very helpful for the operator to avoid the large time delay and keep hardwares safe from improper operation.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15068
Collection光电信息技术研究室
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院大学
3.中国科学院光电信息处理重点实验室
4.辽宁省图像理解与视觉计算重点实验室
5.沈阳工程学院
Recommended Citation
GB/T 7714
李波,赵怀慈,孙士洁,等. 基于遥操作安全的预测仿真系统研究[J]. 微电子学与计算机,2014,31(5):98-102.
APA 李波,赵怀慈,孙士洁,&花海洋.(2014).基于遥操作安全的预测仿真系统研究.微电子学与计算机,31(5),98-102.
MLA 李波,et al."基于遥操作安全的预测仿真系统研究".微电子学与计算机 31.5(2014):98-102.
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