机器人机械手远程控制方法研究

None Tuan Nguyen
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引用次数: 0

摘要

本研究介绍了一种利用虚拟现实技术设计和管理工业机器人的新方法,使人类能够在各种环境中观察到广泛的机器人行为。目的:通过仿真程序,可以对机器人的运动进行回顾,并生成现实世界任务执行的程序。进一步研究了控制工业机器人与人交互的算法。方法:本研究项目中使用的机器人是在以前的老版本机器人机械手的基础上经过精心翻新和增强的,该版本的机器人机械手缺少一个派生的电气柜。结果:在机械和电气升级之后,一个虚拟装置,包括一个耳机和两个手动控制器,已经集成到机器人的控制系统中,可以通过该设备进行控制。结论:该控制算法利用共享控制方法和人工势场方法,通过排斥力和引力实现避障。最后给出了使用真实机器人模型的实验结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Study of Robot Manipulator Control via Remote Method
INTRODUCTION: The study introduces a novel approach to the design and management of industrial robots using virtual reality technology, enabling humans to observe a wide range of robot behaviors across various environments.OBJECTIVES: Through a simulation program, the robot's movements can be reviewed, and a program for real-world task execution can be generated. Furthermore, the research delves into the algorithm governing the interaction between the industrial robot and humans.METHODS: The robot utilized in this research project has been meticulously refurbished and enhanced from the previously old version robotic manipulator, which lacked an electrical cabinet derived.RESULTS: Following the mechanical and electrical upgrades, a virtual setup, incorporating a headset and two hand controllers, has been integrated into the robot's control system, enabling control via this device.CONCLUSION: This control algorithm leverages a shared control approach and artificial potential field methods to facilitate obstacle avoidance through repulsive and attractive forces. Ultimately, the study presents experimental results using the real robot model.
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