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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)
Department其他
Conference NameInternational Conference on Applied Science and Engineering Innovation (ASEI)
Conference DateAugest 30-31, 2015
Conference PlaceJinan, CHINA
Source PublicationPROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON APPLIED SCIENCE AND ENGINEERING INNOVATION
PublisherATLANTIS PRESS
Publication PlacePARIS
2015
Pages997-1005
Indexed ByCPCI(ISTP)
WOS IDWOS:000375708200197
Contribution Rank1
ISSN2352-5401
ISBN978-94-62520-94-3
KeywordRobot Teleoperation Kinematics Algorithm Master-slave Control 3d Dynamic Simulation
AbstractFor 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
Identifierhttp://ir.sia.cn/handle/173321/18670
Collection其他
Affiliation1.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.
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