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基于虚拟现实的遥操作技术是目前实现时延下遥操作准确力反馈的重要方法。分析了遥操作虚拟模型误差,提出以虚拟手指尖位移来获取场景中手指碰撞信息,利用基于弹簧、振子、阻尼的动力学模型计算虚拟力。为减小虚拟模型误差,以从端反馈数据修正虚拟场景碰撞信息,采用自适应的最小二乘法实现对动力学模型各参数的在线参数辨识。实验结果表明,上述方法可实现快速模型误差修正,并使虚拟力与真实力基本吻合,提高操作的准确性。
Teleoperation technology based on virtual reality is an important method to delay the accuracy feedback of teleoperation. The error of teleoperation virtual model was analyzed. The virtual finger tip displacement was proposed to obtain the finger collision information in the scene. The virtual force was calculated by the dynamic model based on spring, vibrator and damping. In order to reduce the error of the virtual model, the collision information of the virtual scene was corrected by the feedback data from the end, and the online parameter identification of each parameter of the dynamic model was realized by the adaptive least square method. The experimental results show that the above method can achieve fast model error correction, and make the virtual force and real strength basically consistent, and improve the accuracy of the operation.