利用虚拟现实界面远程控制工业机器人

Q4 Engineering

Mekhatronika, Avtomatizatsiya, Upravlenie Pub Date : 2024-06-06 DOI:10.17587/mau.25.306-314

A. I. Iusupova, V. Titov, A. V. Sergeev

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引用次数: 0

摘要

执行复杂操作的工业机器人通常需要远程控制。操作员必须有权限配置机器人行为、设置操作、在执行操作前模拟操作执行、同步机器人及其数字模型状态，以及在必要时更改控制模式。虚拟现实界面可以交互式地控制机器人，并执行上述所有操作。文章提出了一个基于虚拟现实界面的控制系统的实施方案，该方案可实现对工业机器人的实时控制。提出的解决方案已在两个机器人上进行了测试，包括一个通用（迭代）逆运动学求解器、一个轨迹规划器、一个任务调度器，支持主从模式和轨迹模式工作。

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Industrial Robot Remote Control using Virtual Reality Interfaces

Industrial robots performing complex operations often require remote control. The operator must have access to configure the robot behavior, set operations, simulate operation execution before execution, synchronize robot and its digital model state, change the control mode if necessary. Virtual reality interfaces allow to control robots interactively and perform all the operations described above. The article proposes an implementation of a control system based on virtual reality interfaces, which allows real-time control of an industrial robot. The proposed solution has been tested on two robots and includes a universal (iterative) inverse kinematics solver, a trajectory planner, a tasks scheduler, supports work in master-slave and trajectory modes.

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来源期刊

Mekhatronika, Avtomatizatsiya, Upravlenie Engineering-Electrical and Electronic Engineering

CiteScore

0.90

自引率

0.00%

发文量