摘要在一些不适合人类直接参与的作业中，如探测危险的矿井、高温的环境等，遥操作技术可以使机器人替代人进行作业。为了更好地完成遥控技术作业，提出了与交互技术紧密相连的新技术----临场感技术。操作者根据遥操作系统反馈的信息，能直接感受到机器人与周围物体或者环境的相互作用，并且提高了遥操作作业的质量与速度。29456
本文概述了临场感技术特点以及国内外发展情况，完成了机械臂所处环境的几何学建模，复现了操作环境，构建了遥操作机器臂各个部分的三文模型，并进行了组装。根据机械臂的结构特点和运动学约束，对机械臂进行了运动学分析，建立了该机械臂的正运动和逆运动模型，实现了机器人抓取动作的实时控制。通过对机械臂微小位移的设定，得到夹持力的大小。应用C++和OpenGL语言，设计了具有良好人机交互特性的虚拟环境。
关键词：临场感技术；几何学建模；运动学分析；虚拟环境
毕业论文设计说明书外文摘要
Title      Modeling and Expression of Virtual Feedback  Force towards Teleoperation Robot       
Abstract
Teleoperation technology can be used to instruct robots work，where human beings can not enter，for instance， the hazardous mine and the high-temperature environments. For improving the level of teleoperation system， a new technology called telepresence technology tightly related to the interaction technology has been put forward. According to the feedback information of teleoperation system， the operator can feel the interaction between the robot and the surrounding objects or the environment directly， thus improving the quality and speed of the teleoperation work.
The thesis summarizes the character of the telepresence technology and its research development， builds the geometry modeling of the environment and reemerges the real situation.3D model of all parts of the robot has been built and assembled. The kinematics of the mechanical arm was analyzed according to the structural characteristic and the kinematics constraints. Thus， building the positive motion model and inverse kinematic model to control the movement of the robot arm in real time. The force can be calculated by setting the micro displacement. The virtual environment with good man-machine interactive features is designed by applying C++ and OpenGL language.
Keywords：Telepresence Technology；Geometric Modeling；Kinematics Analysis；Virtual Environment
目   次
1  引言    1
1.1  临场感技术概述    1
1.2  国内外研究动态    2
1.2.1  国外研究水平    2
1.2.2  国内研究水平    2
1.3  本文研究内容和目的    3
2  系统总体设计    5
2.1  显示模块    5
2.2  控制模块    6
3  机械手臂和环境的几何学建模    7
3.1  机械手臂的几何学建模    7
3.1.1  建模流程    7
3.1.2  构件的SolidWorks模型建立    7
3.1.3  文件格式转化    8
3.1.4  局部坐标系    8
3.1.5  模型绘制    9
3.1.6  组装模型    9
3.2  环境的几何建模    9
3.2.1  生成地形网格    10
3.2.2  Catmull-Rom插值算法    10
3.2.3  纹理映射    11
3.2.4  纹理读取函数    11
3.3  本章小结    11
4  机械手臂的运动学分析    12 OpenGL面向机器人遥操作的虚拟反馈力建模与表达:http://www.youerw.com/jixie/lunwen_24715.html