面向遥操作手眼协调的虚拟仿真交互控制方法

doi:10.3969/j.issn.1001-506X.2020.05.23

Abstract

Abstract:

Aiming at the problem that the usability of human-computer interaction will seriously affect the operation efficiency when the viewing angle of the virtual simulation scene changes in the process of teleoperation, a virtual scene interaction control method oriented to hand-eye coordination of teleoperation is proposed. The teleoperation instructions are mapped and transformed by the coordinate system transformation, and then sent to the controlled object, so that the motion of the controlled object in the virtual display simulation scene can be coordinated with the interactive device when the viewing angel changes. The virtual simulation scene is built by Unity 3D for experimental verification, and compared with the tradition interactive mode, the results show that the proposed algorithm makes the teleoperation process more efficient and interactive.

Key words: teleoperation, hand-eye coordination, virtual reality, human and robot interaction

CLC Number:

TP391.9

Zhengxiong LIU, Jikang SI, Gang CHEN, Panfeng HUANG. Interaction control method of virtual simulation for hand-eye coordination in teleoperation[J]. Systems Engineering and Electronics, 2020, 42(5): 1146-1151.

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References 20

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控制方法	平均值
控制方法	操作时间/s	出错次数/次	码垛位置误差/mm
传统方法	156.14	5.6	1.31
手眼协调	114.53	1.3	0.74

控制方法	平均值
控制方法	操作时间/s	出错次数/次	码垛位置误差/mm
传统方法	139.45	5.2	1.14
手眼协调	101.38	0.9	0.62

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Interaction control method of virtual simulation for hand-eye coordination in teleoperation

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