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题名:
Research on 3D Simulation System and Algorithm for Robot Teleoperation
作者: 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: PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON APPLIED SCIENCE AND ENGINEERING INNOVATION
会议录出版者: ATLANTIS PRESS
会议录出版地: PARIS
出版日期: 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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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18670
Appears in Collections:其他_会议论文

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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

Recommended Citation:
Yan LL,Xu F,Jia K. Research on 3D Simulation System and Algorithm for Robot Teleoperation[C]. International Conference on Applied Science and Engineering Innovation (ASEI). Jinan, CHINA. Augest 30-31, 2015.Research on 3D Simulation System and Algorithm for Robot Teleoperation.
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