案例研究:基于网络的虚拟现实机器人训练系统

Tuan Ann Teh, Yuan Sheng Victor Goh
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引用次数: 0

摘要

虚拟现实机器人训练系统是利用桌面虚拟现实(VR)系统为用户准备操作真实的机器人系统。计算机系统向用户呈现虚拟机器人系统的视图。虚拟世界复制了实际机器人系统的动作。该视图将是一个3D场景,用户可以通过佩戴头戴式显示器沉浸在这个虚拟世界中。作为系统的用户,他可以通过使用脚踏开关在虚拟机器人系统中移动,进入系统的特定视图并像真实机器一样操作或控制它。一个虚拟的教学挂件将出现,机器可以通过使用轨迹球激活挂件的接触按钮来单独操作。所有在实际系统操作中通常听到的声音都会被复制,这样用户就可以从视觉和听觉上判断操作是否正确。随着互联网向全三维多媒体交互平台的快速发展,将虚拟世界与真实的物理系统连接起来,并将虚拟世界放置在互联网上,用户可以远程控制、操作和操纵物理系统。本文研究了使用这种虚拟培训系统的可能性,而不必投资于实际系统,但达到与实际系统相同的培训效果。它还描述了如何使用虚拟现实技术通过一个独立于平台的、具有实时视频反馈的互联网图形用户界面来远程操作培训系统。本案例研究的可能应用包括危险环境中机器人的远程控制、制造系统的远程诊断、远程制造和高附加值培训。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Case Study: Web Enabled Virtual Reality Robotics Training System
Virtual Reality Robotics Training System is the use of desk-top Virtual Reality (VR) system for preparing a user to operate on a real robotics system. The computer system presents the user with a view of a virtual robotics system. The virtual world replicates actions of the actual robotics system. The view will be a 3D scene and a user can immerse in this virtual world by wearing a Head Mounted Display. As the user of system, he can move around a virtual robotics system through the use of foot switches, go to a particular view of the system and operate or control it just like the real machine. A virtual teach pendant will appear and the machine can be operated individually by activating the contact buttons of the pendant using a trackball. All sound normally heard in the operation of the actual system is replicated so that the user would be able to tell both visually as well as aurally if the actions are correct. With Internet fast moving towards full 3D multimedia, interactive platform, it is possible to link the virtual world to the real physical system and place the virtual world on the Internet so that user can control, operate, and manipulate the physical system remotely. This paper investigates the possibility of using such a virtual training system without having to invest on an actual system but achieving the same training effectiveness as the actual system. It also describes how the training system could be remotely operated using Virtual Reality technology through a platform independent, Internet enabled graphical user interface with real time video feedback. Possible applications of this case study include tele-control of robot in hazardous environments, remote diagnosis of manufacturing systems, tele-manufacturing and high value-added training.
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