在虛擬實境中之行走式機械臂遠程控制系統設計

Abstract

本論文設計出一套以虛擬實境技術為基礎的虛擬實境人機介面控制系 統，用以控制遠端行走式機械臂工作。系統架構採取主從架構，客戶端虛 擬實境人機介面採取桌上型虛擬實境，操控者透過鍵盤、滑鼠、空間球與 感測手套輸入控制命令，透過立體眼鏡從螢幕獲得視覺回饋，而與虛擬世 界（此虛擬環境乃對應伺服端真實環境所製作出）產生互動效果。透過網 際網路，客戶端將操控者的控制命令傳向伺服端，由伺服端控制小型的機 械人在實際環境中運動，此機械人系統將與客戶端的操控者命令同步動作 。而伺服端會把實際系統的工作結果傳回客戶端，由客戶端對應實際環境 產生虛擬實境視覺回饋給操作者，作為操控者下達次筆控制命令的依據。 我們利用「倒傳導式類神經網路」處理學習、辨識操作者輸入手勢命令， 以提供操控者較人性化的輸入介面。最後並藉由實驗說明利用虛擬實境製 作之機械人遠控系統人機界面之優點。 In this thesis, we design a VR user interface control system with virtual reality technology for mobile robot teleoperation. The architecture of our system is a client-server model. The VR client interface is based on desktop VR. The operator interacts with the virtual environment by inputting his commands with keyboard, mouse, spaceball, sensing glove and getting visual graphical feedback from the monitor by wearing a stereo-glasses. (The virtual environment is constructed with a ratio proportional to the real abbreviated artificial environment.) The VR client interface sends the command of the userto the server through the Internet, and the server gets the command to control the abbreviated mobile robot system in the artificial environment synchronously. After performing the operation, the server will return back the information of the artificial system for the VR client interface to refresh VR environment, and the operator will command newly according to the new situation of the virtual environment. In order to provide a more friendly input interface, we use "Back Propagation Neural Network" to deal with the learning and recognizing problems of the input gestures commands of the operator. Finally, we perform experiments to illustrate the advantage of the VR user interface control system of mobile robot teleoperation constructed with VR technology.