STUDY OF SOME KEY PROBLEMS IN MICROMANIPULATION-ORIENTED REAL-TIME HUMAN-COMPUTER INTERACTIVE TELE-OPERATION

摘要

In this paper, some key problems of real-time human-computer interactive tele-operation for micromanipulation are researched: Mathematical model of human-computer interactive tele-operation for real-time micromanipulation is set up. System properties of human-computer interactive tele-operation are analyzed. Soft doubling frequency with two buffers is put forward and then phenomenon of flickering in time-multiplexed display is eliminated. Unit for tele-operation, which is used to control micromanipulations, is designed and accomplished. Finally, the real-time interactive tele-operation environment for micromanipulation is developed, which can be used to observe the stereo image of micromanipulation from the computer screen and operate micro-actuators and manipulators by controlling joysticks.