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1、Journal of Beijing Institute of Technology, 2010, Vo. l 19, No . 2Three? DimensionalK ine matics Simulation ofRobot Fighting Platfor m in VirtualEnvironmentWANG Jian?zhong (王建中 ), ? ZHU Li?yao (朱礼尧 )( State Key Laboratory ofExplosion Science andTechnology , Beijing Institute ofTechnology , Beijing 1
2、00081, China)Abstract : A method of3D kine matics si mulation of robot fighting platfor m (RFP) in virtualenvironment is pro?posedw ith the ai m ofenhancing vision telepresence . Based on the theory of space coordinate transfor mation , ki ?ne matics equations ofRFP are for mulated;followed by apply
3、ing amethod ofmodeling using 3DMAX software tobuild anRFP? s 3D geo metricmodelbefore a 3D kine matics si mulation syste m ofRFP is co mpleted based on vir ?tual reality technology and Open Inventor VC+ + . Test results have indicated that this system can perfor mRFP? s kine matics si mulation in vi
4、rtual environment .It can also i mitate RFP?smotion states and environmentalfeatures wel. l M oreover ,not only can better real ?ti me perfor mances and interactions be achieved but alsooperator ?s vision telepresence be enhanced ,therefore this approach may help lay the foundation for the realiza?t
5、ion ofRFP?s teleoperation with vision telepresence .K ey words :robot fight platfor m ( RFP); kine maticmode;l virtual reality ;vision telepresenceCLC nu m ber : TP 24? ? Docu m ent code : A? ?Article ID: 1004?0579( 2010)02?0165?05Received? 2009?07?03 Sponsored by IndependentR esearch Projects of St
6、ate K ey Laboratory ( ZDKT08?05) Biography? WANG Jian?zhong( 1963- ), professor , doctoral adviser ,cw jzwang bit . edu . cn.?In a future battlefield ,robot fighting platfor m( RFP) is expected to replace real soldiers to carry out combat tasks like scouting and attacking, m aking itselfvitally sign
7、ificant in ter ms of reducing casualties andreinforcing combat effectiveness 1.Teleoperation sys? te m 2- 3is an i mportant component ofRFP. Currently, because of the complexity of battlefield environmentsand fighting tasks , m ethods of teleoperation now w idelyused formobile robots can? t satisfac
8、torily meet the real? battle requirements of re mote control of RFP,to whichlack of vision telepresence and slow real?ti m e charac? teristic are major bottlenecks.K inematics si mulationbased on virtual reality technology 4- 5is an effectiveapproach to solve these t wo problems .It can establish vi
9、rtual scene w ith environmental information collectedby binocular stereo cameras,and its operator can exer? cise control over each remote real robot through manip?ulating relevant si mulation robot 6- 8,in thisway en? hance vision telepresence and i mprovemanipulation ef?ficiency in RFP? s remote te
10、leoperation.In this study aninvestigation on 3D kinematics si mulation of RFP invirtual environ m ent is summarized ,w ith requirements for RFP in actual combat put in consideration .1? K inematicsM odel ofRFP1?1? M ovingM echanism ofRFP An RFP ism ade up of two crawler track walkingsyste m s and aw
11、eapon syste m having two DOFs ( degree of freedom),as shown in F ig. 1 . Eachwalking systemis driven by an independent servo motor ,at the fronttop position ofwhich a driver is installed and geared to a transm ission se. t W hen a road is fla,t high gear isselected to achieve high speed ,and when it
12、 is crag? ged ,low gear is chosen to provide sufficient torque .When the two servo motors are provided with pulses ofthe sa m e frequency ,the RFP moves forward or back? ward point?blank ;however ,under different frequen?cies,the RFP performs a curvilinearmotion ,and upon fedw ith frequencies same i
13、n frequency but reversed inphase ,itm akes gyration. The weapon system ism ade?165?Journal of Beijing Institute of Technology, 2010, Vo. l 19, No . 2up of a direction servo subsystem and a high?low servosubsystem driven by separate motors,the directionrange is 90! ,high?low span is - 10!- 30! . When
14、 the RFP arrives at the scheduled site ,the best posturew ill be resulted for vie w ing or shooting through pathmove ment of thewalking systems and angle adjustmentsof itsweapon syste m.F ig. 1? Si mulation structure of an RFPFig . 2? K inematics analysis of the RFP1?2? K ine matic Analysis of RFPIn
15、 this context only motions in a horizontal plane is discussed .Supposing that (X0, Y0, Z0) is a coordi?nate system pertaining to the RFP? s body under study, among which Z0axis is passing through the geometric center of the body .A three?di m ensional vector ( xw,yw, ?w)Tdescribes the location ofRFP
16、 in the plane , xw and yware the coordinates ofRFP? s geometric center in world coordinate system,?wis the angle between posi? tive direction of theX0axispertaining to the coordinate system of RFP? s body and positive direction ofXwaxisin the world coordinate syste m,as shown in F ig.2 . Transformation matrix R bet ween the t wo systems is asfollows :R=cos?sin?0- sin?cos? 0 001.Supposing thatB is the spacing between the cen?tral lines of the t wo track walking system s ,L is thelength
