基于视觉/力觉辅助的遥操作系统研究与实现

摘要

针对多变未知的作业环境以及复杂繁多的作业任务,设计一种基于视觉/力觉辅助作业的遥操作系统.首先,利用Kinect摄像头采集作业现场的3D点云数据,结合虚拟现实技术,在计算机上将虚拟机械臂模型叠加到真实环境中,同时显示虚拟模型与现场信息,提高操作人员的现场感知能力;根据获取的障碍物和目标物体位置信息,建立人工势场,增强操作者控制远端机械臂进行避障及接近目标物体操作的能力,完成环绕和避障任务.该方案在7自由度Schunk机械臂上得到了实现.结果表明,此方案可以很好地弥补虚拟环境缺乏现场信息的缺点,提高了遥操作系统的可靠性.%In order to accomplish the work in uncertain and complicated environments,a new teleoperation system based on visual-haptic aiding method is put forward.Firstly,a Kinect camera was used to collect 3D point cloud data of the job site,and virtual robot manipulator was added to the real-world environment by adopting vitual reality technology.These virtual models and on-site information were displayed in the same window,which improves the operator's perception ability.Secondly,an artificial potential field was established according to the position imformation of the obstacles and target objects,which helps the operators to avoid obstacles and approach targets.The proposed scheme was implemented on a 7-DOF Schunk robot manipulator.The experimental results show that this scheme can compensate for the lack of on-site information in the virtual environment and improve the reliability of the teleoperation system.