基于混合现实的可移动机械臂操作控制系统
Operation Control System for Movable Robotic Arm Based on Mixed Reality
董泽宇 1刘政 1李勇 1胡立坤1
作者信息
- 1. 广西大学电气工程学院,广西 南宁 530004
- 折叠
摘要
为应对特殊条件下不便于实地进行移动式操作的问题,设计了一套基于混合现实的可移动机械臂操作控制系统.该系统分为人机交互、机械驱动、虚拟现实等3个模块:人机交互模块通过摄像头识别操作者肢体手势动作并发布相应操作指令;机械驱动模块解析由人机交互模块发布的操作指令后完成相应动作并反馈设备工作状态;虚拟现实模块接收机械驱动模块反馈信息后将设备运行情况在构建好的虚拟场景中还原,实现对设备运行情况的实时监控.在可移动机械臂平台上的测试结果表明,操作者通过所提系统可以实现对可移动机械臂的远程精准控制与实时监控,系统响应速度能够达到60～100 ms/frame.
Abstract
To manage the problem regarding inconvenient mobile operations in the field under special conditions,we have designed a mobile robotic arm operation control system based on mixed reality.The system is categorized into three modules:human-computer interaction,mechanical drive,and virtual reality.The human-computer interaction module delivers corresponding operation instructions after recognizing the body gestures of the operator via camera.These operating instructions are then analyzed by the mechanical drive module that provides the working status of the equipment.Furthermore,this feedback information is received by the virtual reality module,which then restores the operation of the equipment in the built virtual scene to realize its real-time monitoring.The test results on a mobile robot platform show that the operator can achieve remote precise control and real-time monitoring of the mobile robot arm through the proposed system,and the system response speed can reach 60‒100 ms/frame.
关键词
机器视觉/混合现实/Unity3D/机械臂/动作捕捉Key words
machine vision/mixed reality/Unity3D/robotic arm/motion capture引用本文复制引用
基金项目
国家自然科学基金(61863002)
国家级大学生创新创业训练计划(202210593862)
出版年
2024
NETL
NSTL
万方数据