Online teaching system of teleoperation robot based on digital twin model

被引：0
|
作者：
Chen C. [1 ]
Ding X. [1 ]
Pan Y. [1 ]
Zhang H. [1 ]
Hong J. [2 ]
机构：
[1] School of Mechanical and Automotive Engineering, Qingdao University of Technology, Qingdao
[2] School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an
来源：
Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS | 2023年 / 29卷 / 03期
关键词：
augmented reality; collision detection; digital twin; human-computer interaction; online teaching; teleoperation robot;
D O I：
10.13196/j.cims.2023.03.024
中图分类号：
学科分类号：
摘要：
To improve the teaching efficiency and safety of teleoperation robot, a digital twin framework for teleoperation robot was proposed. To map physical entity to the digital twin model, the virtual models of both robot and its working scene were established. A teleoperation method based on RGB-D image and posture teaching device was designed and implemented. In this method, the paths and postures of the virtual robot end-effector were controlled by mouse and posture teaching device. In addition, the Augmented Reality (AR) technology was used to combine the virtual modes with physical scene, and the AR-based teaching of teleoperation robot was realized. The octree models of the virtual robot and its working scene were also constructed to predict the collision interference between the virtual robot and the working scene. By collision detection technology, the system sent the planned paths and postures without collision interference to the physical robot controller to control the movement of the physical robot, so as to realize the robot online teaching of the teleoperation robot. © 2023 CIMS. All rights reserved.
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页码：951 / 963
页数：12
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