申加刚, 董再励, 郝颖明, 朱枫. 排爆作业机器人模拟训练系统研究[J]. 机器人, 2005, 27(5): 426-430.
引用本文: 申加刚, 董再励, 郝颖明, 朱枫. 排爆作业机器人模拟训练系统研究[J]. 机器人, 2005, 27(5): 426-430.
SHEN Jia-gang, DONG Zai-li, HAO Ying-ming, ZHU Feng. Research on a Virtual Training Simulator for Explosive-handling Robot[J]. ROBOT, 2005, 27(5): 426-430.
Citation: SHEN Jia-gang, DONG Zai-li, HAO Ying-ming, ZHU Feng. Research on a Virtual Training Simulator for Explosive-handling Robot[J]. ROBOT, 2005, 27(5): 426-430.

排爆作业机器人模拟训练系统研究

Research on a Virtual Training Simulator for Explosive-handling Robot

  • 摘要: 介绍了一种排爆机器人模拟训练系统.该系统提供了友好的人机交互界面,使操作人员可以进行各种模拟训练,并提高操作水平.重点介绍了该模拟训练系统的体系结构及关键实现技术,包括排爆机器人及其工作环境的建模方法、机器人运动学和动力学简化模型、碰撞检测和技能评定等.通过实验,证明了该模拟训练系统的可行性和有效性.

     

    Abstract: A training simulator for explosive-handling robot is introduced.With the efficient human-computer interface,a trainee can operate the simulator to improve his/her skills in controlling the real explosive-handling robot.The emphasis is put on the system architecture and its key technologies,such as the modeling method to construct the explosive-handling robot and its working environment, the simplified kinematics and dynamics model,collision detection and skill evaluation,etc.The feasibility and effectiveness of the system are proved by the experiments.

     

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