1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
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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