机器人离线编程中虚拟现实人机接口研究

研究虚拟现实人机交互技术在机器人离线编程系统中的应用，以提高系统人机交互的自然性和效率。介绍了将六自由度输入设备FASTRAK跟踪系统用于机器人运动路径交互式生成的原理。提出一种场合相关的基于模板匹配的手势识别算法，通过手势向虚拟环境发送交互命令来对虚拟机器人进行离线编程，实现了数据手套在系统中的人机交互。算法简单、实时性好、识别率高、鲁棒性强。方法已在SGI工作站上实现，应用在自主开发的机器人虚拟示教编程系统中，大大提高了离线编程的效率。

Virtual Reality Human-machine Interface in Robot Off-line Programming

This paper studies the application of the virtual reality human-machine interactive technique to robot off-line programming system for improving the naturalness and the efficiency of the system interaction.The principle that applies the 6-DOF input device FASTRAK tracker system to interactive generation of robot path is introduced.A gesture recognition technique depending on context and based on template matching is proposed.Interactive commands are transmitted to virtual environment through the gestures for programming the virtual robot off line,and man-machine interaction between data glove and the system is realized.The technique is easy to be realized and has a good real-time performance,a high recognition rate and high robustness.The method is realized on SGI workstation and applied to RVTPS(Robot virtual teaching programming system) developed in this paper,and enhances the efficiency of the off-line programming significantly.