OSG-based construction method of self-adaptive virtual fixture

A technology of virtual fixture and construction method, which is applied in the direction of manufacturing tools, manipulators, program-controlled manipulators, etc. It can solve the problems that the virtual fixture structure cannot be changed and adjusted, and achieve the effect of improving construction efficiency and operation efficiency

Active Publication Date: 2017-05-10
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, the traditional virtual fixture has many disadvantages: the structure of the virtual fixture cannot be a

Method used

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  • OSG-based construction method of self-adaptive virtual fixture
  • OSG-based construction method of self-adaptive virtual fixture
  • OSG-based construction method of self-adaptive virtual fixture

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Embodiment Construction

[0011] Radiographic detection technology is the detection technology that needs to be used in this patent. The osgUtil tool class is provided in the OSG 3D engine library, which can judge whether a ray intersects with an object, and if so, it can provide accurate position information of the intersection point. The ray in the virtual scene is the basis of the collision detection intersection test. However, the line segment provides a way to define the ray. When the intersection occurs, the ray intersection can be detected by detecting the intersection of the line segment and the corresponding operation can be performed. The osgUtil intersection class provides information about the intersection of rays or line segments with the 3D model in the scene, that is, the position coordinates of the specific collision point in world coordinates and the normal direction of the collision. By establishing a ray between the starting point and the end point, it can be judged whether there are...

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Abstract

The invention discloses an OSG-based construction method of a self-adaptive virtual fixture. The virtual fixture can assist to realize rapid positioning and safety control in the robot remote operation virtual training field. The construction strategy of the self-adaptive virtual fixture is characterized in that the suitable virtual fixture is constructed based on different environmental conditions, and the whole virtual operation efficiency can be improved based on the virtual fixture construction efficiency; whether other articles is between two points can be tested through a radiographic inspection method in an OSG collision testing database when a target article is to move from a starting point to a target point; if no, the virtual fixture with simple shape like cylinder shape can be constructed, and otherwise, the virtual clamp of a safe and short-route virtual pipeline can be self-adaptively constructed. Compared with the virtual fixture with simple shape and invariance in a traditional method, the self-adaptive virtual clamp is high in robustness and generality; in addition, the complexity of modeling of the virtual clamp can be reduced to the maximum, so that the system efficiency can be greatly improved.

Description

technical field [0001] Robot teleoperation virtual on-orbit maintenance training system Background technique [0002] The virtual fixture is a very important auxiliary means in the field of teleoperation, especially when controlling the movement of the manipulator in the virtual scene, the virtual fixture can limit the movement space of the manipulator, and use a certain guidance algorithm of the virtual fixture to guide the machine The movement of the arm and hand helps the operator to control the robot to complete tasks better and faster and improve work efficiency. The virtual fixture has been well applied and developed in the robot teleoperation system based on the virtual scene. However, there are many disadvantages in traditional virtual fixtures: the virtual fixture structure cannot be adjusted according to environmental changes, and virtual fixtures need to be replaced in different environments. [0003] Although the virtual fixture has various shapes, the ultimate...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1676B25J9/1689
Inventor 宋荆洲李盛贵孙汉旭贾庆轩
Owner BEIJING UNIV OF POSTS & TELECOMM
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