基于OpenGL的排爆机器人离线编程系统

针对当前排爆作业未知非结构化环境的特点，提出了一种新的基于OpenGL的排爆机器人离线犏程系统。该系统拥有友好的人机界面，包括多视频区域、控制区域和仿真区域，在能够增强操作者感知和理解排爆现场状况的基础上，更通过建立机器人模型、环境模型和爆炸物模型，运用C空间方法和启发式搜索技术，开发了排爆农．器人对爆炸物的半自主抓取功能，提高了操作安全性能和工作效率，降低了操作人员紧张程度，大幅度提高了排爆机器人的操作性能。

OpenGL Based Off-line Programming System of EOD Robot

Aiming at the specialty of unknown unstructured environment in EOD operation, a novel OpenGL based off-line programming system of EOD robot was proposed. The system has a friendly human machine interface, which includes multiple video zone, control zone and simulation zone. The operator's sensing and understanding of the current situation of the EOD operation scene were enhanced. Furthermore, by building robot model, environment model and bomb model and using C-space method and heuristic searching technology the function was developed that the EOD robot could fetch the bomb semi-automatically, which greatly improved its operating performance, improved the operation security and efficiency and decreased the mental pressure of the operator.