面向任务的虚拟环境和人机交互方法研究

One of the most widely used robot working paradigms will surely be teaching-playback. During a conventional teaching process, a human operator has to watch carefully while verifying and controlling the relative position and orientation between an object or workpiece and a robot end-effecter tool using a teaching box, then records the robot action sequence and motion trajectory. So this method is low effective and dangerous. In order to overcome these limitations in nature, and apply to advance manufacturing technology domain and improve the level of the manufacturing, the task oriented study on the virtual environment and man-machine interaction is proposed. As a result,a safe and efficient teaching system that can perform multi-robot centralized teleteaching is developed,which integrates sensor,computer and virtual reality technology,and introduces centalized teaching concept,and combines robotic virtual planning and teleoperation method, works in virtual teaching and man-machine interaction manner in computer-generated virtual environment depending on the informatin from sensor and the known model.It becomes a novel robot teaching method on the current condition.The experimential results demonstrate the utility of the method,so the desired research goal is achieved.The report describes the essential idea, contents and process of the project, and introduces the corresponding results.

本申请研究一种新的可实现机器人示教方法。该方法可将示教过程从机器人作业现场转移到虚拟环境中通过人机交互方式进行，实现安全高效的机器人示教。为实现这个目的，需要研究通过环境CAD模型和传感器模型建立虚拟环境，融合传感器提供的位姿信息，构成具有可兄摹⑷炕娜嘶换セ肪场Ｕ庵中路椒ㄎ魅耸窘烫峁┝诵碌募际跬揪丁