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6D virtual clamp construction method for complex curved surface

A technology of virtual fixtures and complex surfaces, applied in the field of human-computer interaction, can solve the problems of difficult construction of virtual fixtures on complex surfaces, poor generalization, and low efficiency

Active Publication Date: 2020-09-25
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the existing technical literature, the construction of virtual fixtures relies on sensing information or manual dragging and teaching. The construction of virtual fixtures based on sensing information has high environmental requirements and costs, while the construction of manual dragging and teaching is complex Virtual fixtures for curved surfaces are difficult, inefficient, and not generalizable
At present, there is still a lack of simple, efficient and generalizable virtual fixture construction methods for complex surfaces
[0003] Therefore, there is an urgent need in this field to propose a 6D virtual fixture construction method for complex curved surfaces to solve the problem of difficult construction of virtual fixtures for complex curved surfaces in the prior art, and to maintain high estimation accuracy while maintaining high computational efficiency

Method used

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  • 6D virtual clamp construction method for complex curved surface
  • 6D virtual clamp construction method for complex curved surface
  • 6D virtual clamp construction method for complex curved surface

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Embodiment Construction

[0064] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0065] Such as figure 1 and figure 2 As shown, a method for constructing a 6D virtual fixture for complex curved surfaces provided by an embodiment of the present invention includes the following steps:

[0066] Step 1: Carry out teaching and learning on the complex surface, and collect the corresponding teaching data set, and then use the smooth manifold learning algorithm to construct the g...

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Abstract

The invention belongs to the related technical field of human-computer interaction, and particularly discloses a 6D virtual clamp construction method for a complex curved surface. The method comprisesthe steps: S1, performing teaching learning on a complex curved surface, collecting a corresponding teaching data set, and then adopting a smooth manifold learning algorithm to construct a geometricmanifold of the complex curved surface according to the teaching data set; S2, performing projection and geodesic line path planning on the initial point of the geometric manifold by adopting a projection method to obtain a virtual fixture guide path discrete point; S3, parameterizing the discrete points of the virtual fixture guide path, and constructing a curve parameter set according to the pose distance; S4, respectively carrying out pose part interpolation and direction part interpolation on the curve parameter set to generate a 6D virtual clamp. According to the method, accurate planningof the pose and the direction in the 6D virtual clamp structure is achieved, the structure is simple, the generalization characteristic is achieved, and the construction efficiency of the complex curved surface virtual clamp is greatly improved.

Description

technical field [0001] The invention belongs to the field of human-computer interaction technology, and more specifically relates to a method for constructing a 6D virtual fixture for complex curved surfaces. Background technique [0002] Virtual fixtures are widely used in the field of teleoperation and medical robotics. The principle is to superimpose the abstract sensory information generated by the computer on the reflected feedback remote environment, and assist human- The collaborative robot system completes the task. Virtual gripper construction is the basis of its assisted robot operation. In the existing technical literature, the construction of virtual fixtures relies on sensing information or manual dragging and teaching. The construction of virtual fixtures based on sensing information has high environmental requirements and costs, while the construction of manual dragging and teaching is complex The virtual fixture of curved surface is difficult, low in effici...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/17G06F30/27
CPCG06F30/17G06F30/27
Inventor 赵欢葛科迪刘家成丁汉
Owner HUAZHONG UNIV OF SCI & TECH
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