导　　师： 肖南峰

学科专业： 081203

授予学位： 硕士

作　　者： ;

机构地区： 华南理工大学

摘　　要： 近年来,随着自动化技术的发展,在生产和生活中可以看到越来越多的机器人身影。其中在工业生产中,已有大量工业机器人投入应用并且很多都具有一定的自动化程度。虽然工业机器人已被大量应用,但大多只是被用来代替人完成一些简单的和重复性的工作。在面对突发情况以及复杂多变的环境时,机器人常常无法独立完成作业,而且很多机器人必须工作于危险场所或者人类不便到达的地方,此时机器人的远程控制则为上述问题提供了一个较好的解决方案。 目前国内在工业机器人远程控制方面的研究大多集中在如视觉反馈,网络传输优化等方面,而要远程控制工业机器人完成一系列复杂的作业,目前还没有成熟的技术和操作思路。要实现一个具有灵活、友好的操作界面且有一定可靠性的控制系统,其实现难度、开发成本、维护成本等都是需要考虑的问题。为了解决以上问题,本文提出了一种通过普通游戏手柄对工业机器人进行控制的系统,主要是源于当前市面上大部分游戏手柄专门为控制包括三维物体在内的移动对象而设计,价格便宜、操作舒适且具有足够多的功能按钮,能够较好的满足对工业机器人操控的要求。在系统中,通过对工业机器人进行精确建模和仿真,操作者可以预测或查看工业机器人的实时状态,并能通过视频反馈对其动作执行情况随时进行监控。此外,通过将3D碰撞检测技术与仿真平台结合对工业机器人进行实时碰撞检测,可以预防和避免工业机器人因误触碰到自身或者工作环境而导致昂贵的设备损坏或者引发潜在的安全事故,继而得以提高工业机器人对环境的适应能力。在本文的最后,详细描述了机器人实时仿真控制和在线控制的实验方法。对两种控制方式分别选取三种不同操作方式进行实验,展示了实验现场的过程和给出了实验的数据,并对实验结果进行分析,从而验证了基于视频反馈和实时仿真的机器人远程控制系统整个研究与实现方案的正确性与可用性。 Following the development of the automation technology in recent years, we can see more and more robots used in our daily life. Although robots are widely used, most of them are only capable to do some simple and repeated work. When placed in complicated environment, most of them still need the interference of humankind. Besides, many robots are usually used in dangerous place or unreachable place by humankind, in these cases, the remote control of robot will be a good solution. Nowadays, the research of robot remote control is mostly focused in the fields such as vision feedback, network optimizing etc. And there is not a mature solution to control robot to do a series of complicated work. In order to design a reliable control system with flexible and friendly user interface, the difficulty of implementation, the cost of the development and the cost of the maintenance will be our consideration. In order to solve the above problems, this thesis introduced a robot remote control system based on real-time simulation and visual feedback which is manipulated by daily used game joystick. Most of the joysticks are specifically designed for the control of moving 3-d object, so it's a good choice to the manipulation of robot too, since the most movement of a robot is 3-d movement. And through the vision feedback provided by this system, user can check the circumstance of the robot work real time. Through the combination of robot simulation and collision detection technology, user can avoid the robot crashed into another object; this can improve the user experience also. Finally, this paper tested the robot control system in two mode, i.e. simulation mode and online mode. Both mode are tested in three different ways, i.e. joint operation way, robot operation way and combination way, the result of these test proved the correctness and efficiency of the system.

关 键 词： 机器人 工业机器人 远程控制 实时仿真 状态反馈 碰撞检测

分 类 号： [TP242]

领　　域： [自动化与计算机技术] [自动化与计算机技术]