基于增强现实的遥操作关键技术研究

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1、华中科技大学博士学位论文基于增强现实的遥操作关键技术研究姓名：熊友军申请学位级别：博士专业：机械设计及理论指导教师：李世其20050905提出了一种多步预测控制算法，并应用于增强环境中的虚拟执行机构，实现虚拟执行机构对操作指令的预测显示和控制。研究了利用虚拟的执行机构预测仿真技术来辅助、引导操作者快速、安全地实现遥操作，并给出了预测控制的参考轨迹和操作优化判据。同时，探讨了增强现实环境中的虚拟操作训练、操作优化等问题，以便更好地发挥人机之间的协作能力，使操作者能够安全、高效地完成遥操作任务。最后，构建了基于

2、增强现实的机器人遥操作原型系统，并在此基础上分别实现了在局域网内和互联网上的基于增强现实的机器人遥操作实验，对实验结果进行了分析。关键词：遥操作，增强现实，人机交互，时延，预测控制IIAbstractForthedevelopmentlimitofartificialintelligencetechnology,intelligentdevicescannotself-determinationedlyaccomplishtheirworkssafelyandeffectivelyinalongandfor

3、eseeabletime.Thedevelopmentdirectionofintelligentdevicesturnstolethumantakeanactivepartinfromfullyautonomyonlybyintelligentdevices.Nowteleoperationsystemscombinetheintelligenceofhumanbeingsandthelimitedautonomyofintelligentdevices,whichcanextendthehumanbei

4、ng’sabilitiesofapperceptionandoperation,replacepeopletofinishtheirjobinsomedangerous,abominableorexcessiveenvironment.Soteleoperationsystemshavegainedconsiderableattentionandbecomeahottopicallovertheworldinrecentyearswithnumerousnewapplicationareas.Augment

5、edrealityisanadvancedhuman-machineinterfacewhichhasthefollowingthreecharacters:registers(aligns)realandvirtualobjectswitheachother;combinesrealandvirtualobjectsinarealenvironment;runsinteractivelyandinrealtime.Aimatthetimedelayexistingintheteleoperationsys

6、tem,augmentedrealityisintroducedintoteleoperatonsystemtoimprovethemaneuverabilityandsecurity.Thisdissertationdoessomein-depthinvestigationsondevelopmenttheteleoperationenvironmentbasedonaugmentedreality,friendlyhuman-machineinterfaceonteleoperation,predict

7、ivecontrolandtimedelay.Firstly,fortheabsenceoftheearlierknowledgeofremoteenvironmentanddifficultiestomoduletheunstructuredenvironment,teleoperationenvironmentbasedonvision-trackingaugmentedrealityisdevelopedafterstudyandanalysethetheoriesandalgorithmofregi

8、sterrealandvirtualobjectseachother.Inordertoprovidethevisiontelepresencetotheoperator,stereo-visondisplaysystemisbuilt.Secondly,friendlyandeffectivelyman-virtualexcutabledevicesinterfaceisdevelopedbasedonmult