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Volume 33 Issue 04
Apr.  2007
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Journal of Beijing University of Aeronautics and Astronautics  > 2007  >  33(04): 435-439.
Wang Zhifeng, Wang Zhanlin, Fu Yongling, et al. Teleoperating system of Stewart platform based on VR[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(04): 435-439. (in Chinese)
Citation: Wang Zhifeng, Wang Zhanlin, Fu Yongling, et al. Teleoperating system of Stewart platform based on VR[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(04): 435-439. (in Chinese)
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Teleoperating system of Stewart platform based on VR

  • School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 31 May 2006
  • Publish Date: 30 Apr 2007
    Abstract
  • The virtual system for teleoperating Stewart platform based on VR (virtual reality) technical was designed. The principle of the drive arithmetic for the virtual model was instructed. In this arithmetic, firstly proper coordinate system was established, and then a series of coordinate transform was adopted, so the movement correspond problem was solved. The neural network based on L-M training algorithm was used to solve the forward kinematics problem of the platform, and proved that the neural network had a very good generalization performance by experiment. Based on bounding volume hierarchies, the axis-aligned bounding boxes was selected to detect the collision in the virtual simulation system. A sort of simple control strategy was used to overcome the stability of the system because of the time-delay of the communicate link. In the local robot control system, the discrete form of tracking-differentiator was selected to ensure that the robot has good stability and well dynamic performance. The virtual system was validated to be effective by experiment finally.

     

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  • [1] Sheridan T B. Space teleoperation through time delay:review and prognosis[J]. IEEE Transactions On Robotics and Automation,1993, 9(5):592-606 [2] 黄真. 并联机器人机构学理论及控制[M]. 第二版. 北京:机械工业出版社,1997:36 Huang Zhen. Mechanism theory and control of for parallel robot [M]. 2nd ed. Beijing:China Machine Press, 1997:36(in Chinese) [3] Keyvan H Z, Salcudean S E. Analysis of control architecture for teleoperation systems with impedance/admittance master and slave manipulator[J]. The International Journal of Robotics Research,2001,20(6):419-445 [4] 孙增圻. 智能控制理论与技术 [M]. 北京:清华大学出版社,1997:135-140 Sun Zengqi. The theory and technology of intelligent control[M]. Beijing:Tsinghua University Press, 1997:135-140(in Chinese) [5] Martin T H, Mohammad B M. Training feedforward networks with the marquardt algorithm[J].IEEE Transactions Neural Networks,1994,5(6):989-993 [6] 魏迎梅.虚拟环境中碰撞检测问题的研究 .长沙:国防科学技术大学计算机科学与技术学院,2000 Wei Yingmei. Research on collision detection in virtual evironment . Changsha:Institute of Computer Science, National University of Defense Techonlogy, 2000(in Chinese) [7] 韩京清,袁露林. 跟踪—微分器的离散形式[J]. 系统科学与数学,1999,19(3):268-273 Han Jingqing, Yuan Lulin. The discrete form of tracking-differentiator[J]. System Science and Math Science, 1999, 19(3):268-273(in Chinese)
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