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月球机器人仿真中一种消除轮地交互误差的方法
Alternative TitleMethod of Eliminating Wheel-terrain Interaction Errors in Lunar Rover Simulation
刘霁; 王越超; 周船; 和永智
Department机器人学研究室
Source Publication系统仿真学报
ISSN1004-731X
2008
Volume20Issue:14Pages:3733-3737,3741
Indexed ByEI ; CSCD
EI Accession number20083411471776
CSCD IDCSCD:3355494
Contribution Rank1
Funding Organization中科院机器人学研究室基金课题宜人化地面遥操作系统(A040118)
Keyword月球机器人 轮地交互 运动学模型 运动学优化 虚拟现实
Abstract利用虚拟现实技术虚拟出月球机器人在月面上的作业环境和作业过程,是提高机器人作业的安全系数和工作效率的一条有效途径。在3D重建得到的虚拟月面环境中,如果采用通常的单纯基于运动学(或者动力学)模型的仿真方法,对机器人的作业和运动进行虚拟,那么机器人与地形交互的过程中容易产生接触偏差。而且,随着仿真时间的推进,这种接触偏差会逐渐积累并不断增大,进而严重影响仿真测试的精度和效果。为了消除月球机器人仿真中的轮地交互误差,在分析误差来源的基础上,提出了基于运动学优化的解决方法。最后利用实际的虚拟现实仿真系统,验证了所提出方法的有效性。
Other AbstractIn order to secure the safety and efficiency of the lunar rover, it is an effective method to simulate the working process and the environments on lunar surface with virtual reality technology. However, there are errors in the interaction between the rover and the virtual lunar surface based on 3D-reconstruction, when using a general simulation method only based on kinematics (or dynamics) models. In particularly, the errors will be accumulated with the advance of time. As a result, the simulation precise and visual effect will be deteriorated. In order to eliminate the wheel-terrain interaction errors in the lunar rover simulation, the error causes were analyzed, and a method of optimization based on kinematics was described to solve the problem. The experiment results on the lunar rover simulation system validate the approach.
Language中文
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/2522
Collection机器人学研究室
Corresponding Author刘霁
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
刘霁,王越超,周船,等. 月球机器人仿真中一种消除轮地交互误差的方法[J]. 系统仿真学报,2008,20(14):3733-3737,3741.
APA 刘霁,王越超,周船,&和永智.(2008).月球机器人仿真中一种消除轮地交互误差的方法.系统仿真学报,20(14),3733-3737,3741.
MLA 刘霁,et al."月球机器人仿真中一种消除轮地交互误差的方法".系统仿真学报 20.14(2008):3733-3737,3741.
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