Research on 3D Virtual Environment Modeling Technology for Space Tele-robot

摘要：

　　To overcome the time delay in tele-robot system,a new 3D virtual environment modeling technology is proposed in this paper.The interactions between slave robot and environment can be attained in advance in a 3D virtual environment in the master side,therefore an accurate operation of space tele-robot can be realized and the effect of time delay would be minimized.Firstly,3D virtual interaction scenario is modeled as a point cloud data image,and the target objects are recognized from the image and reconstructed by using Random Sample And Consensus(RANSAC)algorithm.Secondly,an effective method is proposed to modify the position of virtual robot and calculate the virtual interactive force between the virtual robot and the virtual objects.Lastly,the experiment is completed with the time delay.The errors are lower(10%F.S.),while virtual interaction force is compared with the real force measured by the force sensor.Experimental results show that this 3D virtual environment modeling method is effective and reliable for space tele-robot control.

关键词： Virtual environment 3D modeling Tele-robot system Point cloud data RANSAC

作者: Biyu Zhu Aiguo Song Xiaonong Xu Song Li

作者单位: School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China

会议类型: 国际会议

会议名称: 2014 Asia-Pacific International Symposium on Aerospace Technology(2014亚太航空航天技术学术会议)

会议地点: 上海

会议语种:英文

页码: 1-8

在线出版日期: 2014-09-24（万方平台首次上网日期，不代表论文的发表时间）