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提出了一种融合视觉的柔性虚拟夹具方法,用于辅助未知环境中的机器人遥操作.通过引入柔性系数实现机器人倾向于理想运动方向程度的调节,保证已知环境中遥操作的安全性和操作性能.利用基于颜色识别的视觉方法对环境中的障碍物大小和位置进行识别,从而实现对柔性虚拟夹具的柔性系数自动选择,扩展该方法应用于未知环境中的遥操作,保证未知环境遥操作的安全性和操作性能.在未知环境中进行了曲线跟踪避障实验,验证了该方法的有效性.
A flexible virtual fixture fusion method based on vision is proposed to assist robot teleoperation in unknown environment. By introducing the flexibility coefficient, the robot can adjust the direction of the ideal moving direction and ensure the safety and operation of the teleoperation in the known environment Performance.Using visual methods based on color recognition to identify the size and position of obstacles in the environment, so that the flexibility coefficient of flexible virtual fixture can be automatically selected, and this method can be extended to the remote operation in unknown environment to ensure the unknown operation Of the safety and operational performance of the curve tracking obstacle avoidance experiments in an unknown environment, verify the effectiveness of the method.