| 基于VR预显示的月球机器人遥操作仿真系统 |
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| 引用本文： | 吕德生,洪炳熔,唐好选,蔡则苏.基于VR预显示的月球机器人遥操作仿真系统[J].燕山大学学报,2005,29(4):337-340. |
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| 作者姓名： | 吕德生 洪炳熔 唐好选 蔡则苏 |
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| 作者单位： | 哈尔滨工业大学,计算机科学与技术学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 为了消除时间延迟对遥控操作系统稳定性的影响，提出了基于虚拟现实(VR)预显示的两级遥操作控制结构的仿真系统方案。文章重点讨论了虚拟环境的建模技术，建立了基于摇杆-转向架的月球机器人的实体模型。最后用月球机器人爬坡的仿真验证了所建模型的正确性和可行性。
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| 关 键 词： | 虚拟现实 遥操作 月球机器人 仿真 |
| 文章编号： | 1007-791X(2005)04-0337-04 |
| 修稿时间： | 2005年5月18日 |
Simulation system of lunar rover teleoperation based on VR preview |
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| U De-sheng,HONG Bing-rong,TANG Hao-xuan,CAI Ze-su.Simulation system of lunar rover teleoperation based on VR preview[J].Journal of Yanshan University,2005,29(4):337-340. |
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| Authors: | U De-sheng HONG Bing-rong TANG Hao-xuan CAI Ze-su |
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| Institution: | LU De-sheng 1,HONG Bing-rong 1,TANG Hao-xuan 1,CAI Ze-su 1 |
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| Abstract: | For the purpose of dispelling the time delay impact on the stability of theteleoperation system, a scheme aboutthe simu- lation system of lunar rover teleoperation based on virtual reality (VR) preview ispresented. The technolgy of modelling in virtual enviroment is mainly studied. Anentity model of lunarrover based on rocker and redirectorisestablished. Finally, theeffectiveness and the feasibility of the model are verified by means of the climb simulation of the virtual lunar rover. |
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| Keywords: | virtual reality teleoperation lunar rover simulation |
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