遥操作机器人系统中的虚拟动力学检测算法

描述了物体间交互的FV和EE两种基本接触模式,在此基础上提出了用八叉树结构来构建虚拟环境的几何模型和动力学模型,给出了不但考虑刚度,而且考虑惯性和阻尼的虚拟仿真机器人与虚拟环境交互的虚拟力检测的一般算法.对于模型空间中的任何形状的实体都可以由八叉树法分割的立方体序列来表示,而其实体的总的虚拟交互力是在FV和EE两种基本接触模式下所分割的所有立方体间的矢量和.实验显示了本文所给出的算法的可行性.该算法对虚拟现实临场感遥操作机器人系统控制结构和控制算法的分析和设计,特别是系统中人机接口的设计具有重要价值.

Checking and measuring algorithm of virtual dynamics in telerobot system

Two kinds of basic contact mode, FV(face-vertex) and EE (edge-edge), are described. Based on these, it is put forward that geometric and dynamic models of virtual environment are constructed by using octrees structure. General algorithm of checking and measuring virtual force under circumstances of virtual simulation robot interacting with virtual environment is presented, which takes into account not only rigidity but also inertia and damping. The entities of any shape for model space can be denoted by cube sequence intersected by octrees. Moreover total virtual mutual force of the entities is the vector sum of all intersected cubes under FV and EE basic contact modes. Feasibility of the algorithm presented in this paper is proved by experiment. The algorithm possesses important value for the analysis and design of the control structure and control algorithm in telepresence telerobot system based on virtual reality technology, especially for the design of human-machine interface in the system.