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排爆作业机器人模拟训练系统研究
Alternative TitleResearch on a Virtual Training Simulator for Explosive-handling Robot
申加刚; 董再励; 郝颖明; 朱枫
Department机器人学研究室
Source Publication机器人
ISSN1002-0446
2005
Volume27Issue:5Pages:426-430
Indexed ByEI ; CSCD
EI Accession number2005449453477
CSCD IDCSCD:2032720
Contribution Rank1
Funding Organization国家863计划资助项目(2002AA420070)
Keyword排爆机器人 模拟训练系统 虚拟现实
Abstract介绍了一种排爆机器人模拟训练系统.该系统提供了友好的人机交互界面,使操作人员可以进行各种模拟训练,并提高操作水平.重点介绍了该模拟训练系统的体系结构及关键实现技术,包括排爆机器人及其工作环境的建模方法、机器人运动学和动力学简化模型、碰撞检测和技能评定等.通过实验,证明了该模拟训练系统的可行性和有效性.
Other AbstractA training simulator for explosive-handling robot is introduced.With the efficient human-computer interface,a trainee can operate the simulator to improve his/her skills in controlling the real explosive-handling robot.The emphasis is put on the system architecture and its key technologies,such as the modeling method to construct the explosive-handling robot and its working environment, the simplified kinematics and dynamics model,collision detection and skill evaluation,etc.The feasibility and effectiveness of the system are proved by the experiments.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/2866
Collection机器人学研究室
Corresponding Author申加刚
Affiliation1.中国科学院沈阳自动化研究所机器人学重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
申加刚,董再励,郝颖明,等. 排爆作业机器人模拟训练系统研究[J]. 机器人,2005,27(5):426-430.
APA 申加刚,董再励,郝颖明,&朱枫.(2005).排爆作业机器人模拟训练系统研究.机器人,27(5),426-430.
MLA 申加刚,et al."排爆作业机器人模拟训练系统研究".机器人 27.5(2005):426-430.
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