| 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 |
| 引用统计 | |
| 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 |
| 推荐引用方式 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. |
| 条目包含的文件 | 下载所有文件 | |||||
| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| Research on 3D Simul（1313KB） | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 | ||
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