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相关概念视频

Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

800
Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
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相关实验视频

Updated: Mar 7, 2026

Photorealistic Learned Landscapes for Augmented Reality
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SimNav-XR:使用ROS2和Unity3D进行移动机器人模拟的扩展现实平台.

Prakash Aryan1, Sujala Deepak Shetty2, V Kalaichelvi3

  • 1Institute of Computer Science, University of Bern, Bern, Switzerland.

Frontiers in robotics and AI
|March 6, 2026
PubMed
概括
此摘要是机器生成的。

SimNav-XR集成扩展现实 (XR) 与机器人框架,用于移动机器人模拟. 这个平台可以对机器人导航和传感器数据进行沉浸式可视化和测试,增强开发和教育.

关键词:
在ROS2中,ROS2就是ROS2.团结3D 团结3D 团结自主导航自主导航自主导航扩展现实 (AR) 是一种扩展现实.混合现实混合现实.移动机器人 移动机器人机器人模拟机器人技术模拟虚拟现实 虚拟现实 虚拟现实 虚拟现实

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 扩展现实 (XR)
  • 模拟技术的模拟技术

背景情况:

  • 移动机器人开发需要强大的模拟和测试环境.
  • 将机器人中间件与游戏引擎集成,对于高级可视化和交互至关重要.

研究的目的:

  • 推出SimNav-XR,这是一个扩展现实平台,用于移动机器人模拟和开发.
  • 将机器人中间件 (ROS2) 与游戏引擎 (Unity3D) 的功能连接起来,以进行增强的可视化和测试.

主要方法:

  • 通过ROS-TCP-Connector利用了ROS2的通信基础设施和Unity3D的XR功能.
  • 实现基于物理的机器人建模,LiDAR/IMU传感器模拟和环境交互动态.
  • 使用Meta Quest 3开发了虚拟现实 (VR) 和混合现实 (MR) 模式的XR接口.

主要成果:

  • 通过使用Turtlebot3和ROSbotXL,成功展示了自主导航,避开障碍物以及同时定位和映射 (SLAM).
  • 已验证的VR模式用于沉浸式开发和测试环境.
  • 展示了使用平面检测将虚拟机器人叠加到真实世界表面的MR模式.

结论:

  • SimNav-XR为机器人开发和教育提供了一个易于访问和交互的平台.
  • XR可视化技术为机器人传感器数据和导航行为提供了宝贵的见解.
  • 该平台通过沉浸式模拟增强移动机器人的开发生命周期.