Design of a 6 DOF Input Device in Telerobotics and Virtual Reality

The principle of a 6 DOF (degrees of freedom) input device using ultrasonic distance measurement is presented in this paper. The system employs the method of measuring the time of flight. In addition, some techniques, including automatic gain control, self-adaptive variable threshold and temperature compensation, are also used to improve precision. Then, the positions and orientations of the input device can be calculated by the method of spatial analytic geometry. Meanwhile, commands from the 3-D input device are detected and carried out. The validity and precision of the input device are verified by the experiment in a robot system. The proposed device not only can be used for end-effector position and orientation measurement in telerobotics, but also can be an interactive device in virtual reality systems, such as helmet tracking, viewpoint navigation and object manipulation.     

遥操作机器人多关节联动控制算法

直线插补算法易于编程实现,且能使机器人手臂的运动轨迹以较高的精度逼近预定义轨迹。根据基于蓝牙通信的5DOF遥操作机器人的实际要求,采用绝对坐标值法计算各关节电机所需脉冲个数,并且使用MC9S12XDP512单片机的五个输出比较通道来控制机器人手臂的五个关节电机。每次得到上位机发送的关节运动量后,以五个输出比较通道中分配到最多脉冲的通道频率作为其他通道的脉冲频率基准以保证各关节在运动过程中的联动。实验证明,该算法精确有效。