虛擬實境遠控機械手臂之系統設計及驗證

摘要

本文之目的在建立以虛擬實境為整合性之遠程控制系統，利用虛擬實境系統的特殊三度空間輸出入界面，改善傳統兩度空間遠控系統的人機界面，使操作上更為方便、更為人性化，並將此系統連用於以非循序控制模式進行的工作；實驗室中以電荷耦合元件擷取工作端物件的位置，完成虛擬物件位置的初始化，並以類神經網路作為判斷虛擬手套的手勢，藉由不同的手勢直接操控遠控端的虛擬機械手臂，即時控制工作端的實體機械手臂同步動作，完成抓取物件之目的，本文所設計之虛擬實境系統在視覺顯示環境可使用於小的定點環境，並具適合使用在整合性的大環境的優點，且對新環境擴充容易不會影響到原有的環境設定，其虛擬實境的整體平均速度經顯示都在 20 (frames/sec) 以上，視覺效果非常平順。

Abstract

A novel real-time dynamic virtual control system is designed to achieve desired performance and robustness in the nonsequential workpiece environment. A robot is implemented on the virtual reality hardware and software infrastructure at Intelligent Control and Simulation Laboratory in National Taiwan University of Science and Technology. The robot is teloperated by an operator with video graphic gestures. A neural network based on back-propagation algorithm has been employed for gesture identification during the operation. With this set up, the operator can successfully, smoothly and precisely direct the robot end effector to follow the command trajectory in its work space and, then, to stay at selected locations and perform assigned tasks.

關鍵字:

• 虛擬實境
• 遠控系統
• 人機界面
• 類神經網路

Key Words:

• virtual reality
• remote control system
• neural network