| Research on 3D Simulation System and Algorithm for Robot Teleoperation | |
| Yan LL(闫林林); Xu F(徐方); Jia K(贾凯) | |
| Department | 其他 |
| Conference Name | International Conference on Applied Science and Engineering Innovation (ASEI) |
| Conference Date | Augest 30-31, 2015 |
| Conference Place | Jinan, CHINA |
| Source Publication | PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON APPLIED SCIENCE AND ENGINEERING INNOVATION |
| Publisher | ATLANTIS PRESS |
| Publication Place | PARIS |
| 2015 | |
| Pages | 997-1005 |
| Indexed By | CPCI（ISTP） |
| WOS ID | WOS:000375708200197 |
| Contribution Rank | 1 |
| ISSN | 2352-5401 |
| ISBN | 978-94-62520-94-3 |
| Keyword | Robot Teleoperation Kinematics Algorithm Master-slave Control 3d Dynamic Simulation |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/18670 |
| Collection | 其他 |
| Affiliation | 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 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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Research on 3D Simul（1313KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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