基于虚拟现实的临场感遥操作工程机器人系统研究
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摘要
本文在分析国内外临场感遥操作机器人系统的基础上,设计了一种基于虚拟现实的临场感遥操作工程机器人系统。该系统采用主从操作方式,在系统主端建立工作现场的虚拟操作仿真环境为操作者提供临场感,使用力反馈操纵杆对从端的四自由度电液伺服工程机械手进行控制。主从端之间使用Internet作为控制信息与反馈信息的通信工具。系统工作时,工作现场端机械手上的位移传感器采集其位姿信息,同时立体视觉系统采集被操作物体的特征点坐标信息,这些信息通过Internet传输给主端的虚拟仿真环境,更新虚拟仿真环境中机械手及被操作物体的状态,以此作为系统的视觉反馈。从机械手上安装的压力传感器检测的机械手工作阻力信息经过相应的力反馈控制算法计算得到反馈力,并通过Internet传输给力反馈操纵杆,以此作为系统的力觉反馈。这种基于虚拟现实的遥操作方式与以现场图像作为视觉反馈的遥操作方式相比,能够大大地减小视觉反馈的时延,和实现视觉反馈与力觉反馈的同步。与基于虚拟预测环境技术进行预操作的遥操作方式相比,能够提供更真实的视觉反馈,避免了因视觉反馈不真实而造成的操作准确度不佳或操作失误。
试验结果显示本系统的视觉反馈方式能够有效地减小遥操作系统中的时延,在实验室局域网的随机网络时延的情况下操纵杆具有符合实际情况的力反馈效果,并且操纵杆、真实机械手和虚拟机械手之间的位置同步性能良好,证明了本系统方案的可行性及有效性。
Teleoperation system with master-slave robot can work under uncertain or extreme environment instead of men. The telerobotic system with telepresence can provide the operators the visual and force feedback, which can make the operator make the right decision when taking the operation, enhance the efficiency and quanlity of the operation. The researches on the technology related with telepresence are being paid more and more attentions.
This paper has set up a telerobot system with force telepresence and visual telepresence based on the analysis of many telerobot systems with telepresence in home and abroad. The system is mainly composed by manual controller with force feedback, 4-DOF construction robot, bilateral servo control subsystem including position servo subsystem and force telepresence subsystem, video telepresence subsystem, and the Internet communication subsystem. Also, the structures and functions of all subsystems are being discussed in great details.
The telepresence telerobotic system based on Virtual Reality works like this: The length sensors and press sensors fitted on the robot used to measure positions of the robot joints and the resistance. These messages will be send to the virtual reality workspace to form the visual telepresence. In the meantime, the resistance will be transmitted to the manual control device and formed the force telepresence. Compared with operating with the prompt by image only, the massages are transmitted easier and quicker than the image, and the working efficiency will be improved greatly, the quality of the teleroperate will improves too. The operator can get the information on time and operator the robot on different view points. Compared with the pre-operate strategy, the visual feedback can show the real state of the robot.
The experiments was taken in the LAN of JilinUniversity. And using the immediate force feedback control strategy, the results of the experiments show that this system has a good performance in force feedback effect and the position control, which prove that this system is efficacious and workable.
Combining the research of theory and experiments, we have accomplished main research work as follow:
1. Based on the research on the time delay features of telerobot systems, this paper designed a new kind of telerobot system based on Virtual Reality, and make the concept come true. The experiment shows that this system haves a good ability to control.
2. The control information and the feedback information are transmitted by Internet based on TCP/IP protocol, which can make the stability and reliability of the data in transitions better. In the process of comunication, we set some restrain of of sending the control information, which can send only by receiving the feedback information.
3. Analyze the kinematics formulation for 4DOF hydraulic construction robot, and established mathematics model for the relationship between hydraulic rod length and joint angle of the manipulator. These make the foundation of the 3D graphic simulation and high precision position control of the telerobot system.
4. Build the visual feedback subsystem. The model of the robot and the scene of the work spot is build by Multigen Creator, and the information of the operating object is get by Stereo Visual System and rebuild by OpenGL, all the movements of the Virtual Reality units are driven by OpenGVS.
5. Based on the analysis of the image feedback and virtual pre-operate telerobot system, we designed the experiment to test the time delay of the Internet and test the time delay of these teleoperate system. Through the experiment it can be see that the teleoperate system built in this paper has obvious advantages on saving the problem of time delay.
The construction telerobotic system with telepresencebased on virtual reality gives the operator telepresence timely and effectively by the force feedback joystick and the visual feedback system, and decrease the impact of timedely on the telerobotic system efficiently. The strategy of the Internet communication and the visual feedback system has a big significance for solving the problem of the timedelay and improving the performance of telerobot system.
试验结果显示本系统的视觉反馈方式能够有效地减小遥操作系统中的时延,在实验室局域网的随机网络时延的情况下操纵杆具有符合实际情况的力反馈效果,并且操纵杆、真实机械手和虚拟机械手之间的位置同步性能良好,证明了本系统方案的可行性及有效性。
Teleoperation system with master-slave robot can work under uncertain or extreme environment instead of men. The telerobotic system with telepresence can provide the operators the visual and force feedback, which can make the operator make the right decision when taking the operation, enhance the efficiency and quanlity of the operation. The researches on the technology related with telepresence are being paid more and more attentions.
This paper has set up a telerobot system with force telepresence and visual telepresence based on the analysis of many telerobot systems with telepresence in home and abroad. The system is mainly composed by manual controller with force feedback, 4-DOF construction robot, bilateral servo control subsystem including position servo subsystem and force telepresence subsystem, video telepresence subsystem, and the Internet communication subsystem. Also, the structures and functions of all subsystems are being discussed in great details.
The telepresence telerobotic system based on Virtual Reality works like this: The length sensors and press sensors fitted on the robot used to measure positions of the robot joints and the resistance. These messages will be send to the virtual reality workspace to form the visual telepresence. In the meantime, the resistance will be transmitted to the manual control device and formed the force telepresence. Compared with operating with the prompt by image only, the massages are transmitted easier and quicker than the image, and the working efficiency will be improved greatly, the quality of the teleroperate will improves too. The operator can get the information on time and operator the robot on different view points. Compared with the pre-operate strategy, the visual feedback can show the real state of the robot.
The experiments was taken in the LAN of JilinUniversity. And using the immediate force feedback control strategy, the results of the experiments show that this system has a good performance in force feedback effect and the position control, which prove that this system is efficacious and workable.
Combining the research of theory and experiments, we have accomplished main research work as follow:
1. Based on the research on the time delay features of telerobot systems, this paper designed a new kind of telerobot system based on Virtual Reality, and make the concept come true. The experiment shows that this system haves a good ability to control.
2. The control information and the feedback information are transmitted by Internet based on TCP/IP protocol, which can make the stability and reliability of the data in transitions better. In the process of comunication, we set some restrain of of sending the control information, which can send only by receiving the feedback information.
3. Analyze the kinematics formulation for 4DOF hydraulic construction robot, and established mathematics model for the relationship between hydraulic rod length and joint angle of the manipulator. These make the foundation of the 3D graphic simulation and high precision position control of the telerobot system.
4. Build the visual feedback subsystem. The model of the robot and the scene of the work spot is build by Multigen Creator, and the information of the operating object is get by Stereo Visual System and rebuild by OpenGL, all the movements of the Virtual Reality units are driven by OpenGVS.
5. Based on the analysis of the image feedback and virtual pre-operate telerobot system, we designed the experiment to test the time delay of the Internet and test the time delay of these teleoperate system. Through the experiment it can be see that the teleoperate system built in this paper has obvious advantages on saving the problem of time delay.
The construction telerobotic system with telepresencebased on virtual reality gives the operator telepresence timely and effectively by the force feedback joystick and the visual feedback system, and decrease the impact of timedely on the telerobotic system efficiently. The strategy of the Internet communication and the visual feedback system has a big significance for solving the problem of the timedelay and improving the performance of telerobot system.
引文
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[10] 张红芬,李科杰,申延涛,机器人触觉临场感系统研究,机器人,2000,22(5):365～370.
[11] 田小锋,宋爱国,黄维一,力觉临场感遥操作机器人的预测控制系统设计,自动化仪表,2000,10.
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[20] 汤宇松, 刘景泰,卢桂章,利用远程网络技术的机器人遥操作系统分析,机器人,2000,22(1):67~72.
[21] 王庆鹏, 谈大龙, 陈宁,基于 Internet 的机器人控制中网络时延测试及分析,机器人,2001, 23(4): 316~321.
[22] 倪涛,虚拟现实临场感遥操作工程机器人系统研究,[博士学位论文],长春:吉林大学,2002,2
[23] 王亦红,黄惟一,宋爱国,力觉临场感遥控机器人的时延问题,自动化仪表,2002,7.
[24] 陈俊杰,虚拟现实力觉临场感遥控作业系统理论与实验研究,[博士学位论文],南京:东南大学,2002,7.
[25] 王树国,任倩,蔡鹤皋,利用虚拟现实和力反馈的遥现技术综述,中国机械工程,1999,10(7): 803~806.
[26] 岳宏.基于虚拟现实触觉感知接口技术的研究与进展.机器人,2003,25(5):475~480.
[27] 李会军,空间遥操作机器人虚拟预测环境建模技术研究, [博士学位论文],南京:东南大学,2005,9.
[28] Furness T A., The super cockpit and its human factor challenges[M]. Proc. Bunan Factory Society,1986.
[29] Sheridan T., Human Supervisory Control of Robot Systems[C], Proc. of IEEE Inter. Conf. on Rob. and Auto., Vol. 3, 808-812, 1986.
[30] Bejczy A. K., Kim W. S. and Venema S. C., The Phantom Robot: Predictive Displays For Teleoperation With Time Delay[J]. IEEE Int. Conf. on Robotics and automation, 546-551,1990.
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