CAJ | 학술논문

虚拟现实技术的应用，改善了传统的主从遥操作工程机器人系统的作业效率。但操作过程中如不能正确处理虚拟环境下工程机器人与障碍物或地面碰撞等危险情况，易造成真实工程机器人倾覆。因此，在虚拟的工程机器人抓手端部不同运动方向上安装假想弹簧，当虚拟环境下的工程机器人抓手与障碍物或地面接近时，假想弹簧变形获得触觉反馈力给操作者以危险提示，并在主从遥操作工程机器人实验台上进行了实验。实验结果表明：通过在虚拟工程机器人上安装假想弹簧产生触觉反馈力，可有效地避免真实工程机器人与障碍物或地面硬接触，减少倾覆事件的发生。
허의현실기술적응용，개선료전통적주종요조작공정궤기인계통적작업효솔。단조작과정중여불능정학처리허의배경하공정궤기인여장애물혹지면팽당등위험정황，역조성진실공정궤기인경복。인차，재허의적공정궤기인조수단부불동운동방향상안장가상탄황，당허의배경하적공정궤기인조수여장애물혹지면접근시，가상탄황변형획득촉각반궤력급조작자이위험제시，병재주종요조작공정궤기인실험태상진행료실험。실험결과표명：통과재허의공정궤기인상안장가상탄황산생촉각반궤력，가유효지피면진실공정궤기인여장애물혹지면경접촉，감소경복사건적발생。
Application of virtual reality improves the work efficiency of conventional master-slave construction tele-robot. For un-experienced operator,the toppling down for the construction tele-robot often occurs because the operator can not feel the information coming from barriers or contacting ground. Therefore,the imaginary springs were installed at the end of the grove from different direc-tions. When the construction tele-robot contacted barriers or ground,haptic feedback force would be fed back to the operator because the imaginary springs were compressed for danger hint. Finally,experiment were carried out on tele-operation construction robot test-bed. The experiment results indicate that the method can decrease toppling down of the construction tele-robot by avoiding the hard contacting between the construction tele-robot and ground.