现代电子技术2024，Vol.47Issue(11)：118-124,7.DOI:10.16652/j.issn.1004-373x.2024.11.020
结合路径规划的虚拟夹具遥操作研究
Research on virtual fixture teleoperation combined with path planning
摘要
Abstract
In the traditional teleoperation tasks,due to the uncertainty and dynamic change of the environment,the traditional virtual fixture(VF)is faced with the challenge of adapting to the change of the environment in real time,which limits its application range in the changeable environment.In view of this,an innovative strategy combining reverse search viewable path planning algorithm and VF technology is proposed to realize the construction and application of adaptive VF.In this paper,a teleoperation system based on haptic device Geomagic Touch and ABB's IRB 1410 robotic arm is set up,and a path planning contrast experiment is performed on the system,and multiple groups of VFs with unexpected situations are designed for contrast experiments.The experimental results show that the adaptive VF can effectively improve the adaptability of teleoperation system in complex environment.It can not only protect the teleoperation system from accidental damage,but also significantly improve the working efficiency of the operator.The research results prove the important value of adaptive VF in improving the flexibility and accuracy of teleoperation system,which provides strong theoretical and practical support for the further development of teleoperation technology.关键词
虚拟夹具/遥操作/机械臂/路径规划/触觉/共享控制/自适应/图像采集/运动控制Key words
VF/teleoperation/robotic arm/path planning/sense of touch/shared control/self-adaptation/image acquisition/motion control分类
信息技术与安全科学引用本文复制引用
丁士旵,朱震,钟永彦,陈娟..结合路径规划的虚拟夹具遥操作研究[J].现代电子技术,2024,47(11):118-124,7.基金项目
国家自然科学基金项目(62273188) （62273188）
