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Research on 3D Simulation System and Algorithm for Robot Teleoperation
Yan LL(闫林林); Xu F(徐方); Jia K(贾凯)
作者部门其他
会议名称International Conference on Applied Science and Engineering Innovation (ASEI)
会议日期Augest 30-31, 2015
会议地点Jinan, CHINA
会议录名称PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON APPLIED SCIENCE AND ENGINEERING INNOVATION
出版者ATLANTIS PRESS
出版地PARIS
2015
页码997-1005
收录类别CPCI(ISTP)
WOS记录号WOS:000375708200197
产权排序1
ISSN号2352-5401
ISBN号978-94-62520-94-3
关键词Robot Teleoperation Kinematics Algorithm Master-slave Control 3d Dynamic Simulation
摘要For experiment platform of robot teleoperation control system requires expensive robot and master equipment, a method of robot construction of 3D simulation system for robot teleoperation is presented. According to the analysis of composition of robot teleoperation control system, the master equipment of Delta parallel mechanism is chosen, Delta parallel robot and SCARA serial robot is chosen as the slave-robot, and TCP/IP protocol network is chosen as communication model between the master and the slave. According the study of the kinematics algorithm for the master and the slave for robot teleoperation system, and the study of control algorithm for robot teleoperation system, the 3D dynamic simulation system for robot teleoperation control system is developed by use of the mixed programming of MFC and OpenGL. The practical simulations verify the reliability of the control algorithms of robot teleoperation control and the communication model, and show the value of the simulation system of teleoperation in the research for the robot teleoperation control.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18670
专题其他
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
3.SIASUN Robot &Automation Co., Ltd,Shenyang 110168, China
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GB/T 7714
Yan LL,Xu F,Jia K. Research on 3D Simulation System and Algorithm for Robot Teleoperation[C]. PARIS:ATLANTIS PRESS,2015:997-1005.
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