Research on 3D Simulation System and Algorithm for Robot Teleoperation

	Research on 3D Simulation System and Algorithm for Robot Teleoperation
	Yan LL(闫林林); Xu F(徐方); Jia K(贾凯)
	2015
会议名称	International Conference on Applied Science and Engineering Innovation (ASEI)
会议日期	Augest 30-31, 2015
会议地点	Jinan, CHINA
关键词	robot teleoperation kinematics algorithm master-slave control 3D dynamic simulation
页码	997-1005
中文摘要	For experiment platform of robot teleoperation control system requires expensive robot and master equipment, a method of robot construction of 3D simulation system for robot teleoperation is presented. According to the analysis of composition of robot teleoperation control system, the master equipment of Delta parallel mechanism is chosen, Delta parallel robot and SCARA serial robot is chosen as the slave-robot, and TCP/IP protocol network is chosen as communication model between the master and the slave. According the study of the kinematics algorithm for the master and the slave for robot teleoperation system, and the study of control algorithm for robot teleoperation system, the 3D dynamic simulation system for robot teleoperation control system is developed by use of the mixed programming of MFC and OpenGL. The practical simulations verify the reliability of the control algorithms of robot teleoperation control and the communication model, and show the value of the simulation system of teleoperation in the research for the robot teleoperation control.
收录类别	CPCI（ISTP）
产权排序	1
会议录	PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON APPLIED SCIENCE AND ENGINEERING INNOVATION
会议录出版者	ATLANTIS PRESS
会议录出版地	PARIS
语种	英语
ISSN号	2352-5401
ISBN号	978-94-62520-94-3
WOS记录号	WOS:000375708200197
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/18670]
专题	沈阳自动化研究所_其他
推荐引用方式 GB/T 7714	Yan LL,Xu F,Jia K. Research on 3D Simulation System and Algorithm for Robot Teleoperation[C]. 见:International Conference on Applied Science and Engineering Innovation (ASEI). Jinan, CHINA. Augest 30-31, 2015.