Design Of Robot Teleoperation System Based On Virtual Reality

When working in the environment, where is dangerous poor and hard to reach for man, teleoperated-robot can act as the extension of human's intelligence and strenghen man's ability of perception and operation. Limited to the level of today's artificial intelligence, it's unrealistic for robot to work safely and effectively all by itself. So, in this paper, we combined human's intelligence with robot's autonomy flexibly, studied the robot teleoperation system based on virtual reality deeply.As a rising subject, virtual reality is the best human-machine interface technology by far. Bring virtual reality into teleopration system, not only strengthens working ability of the actuator but also widens application areas of the device. Manipulator can safely and cozily completes tasks by teleoperating the robot. Supported by National High-Tech Research and Development Program of China (863 Program)"Multi-sensory robot system for detection of dangerous goods"under grants NO. 2006AA04Z221, this paper carried out research in these aspects as follows:Firstly, on the basis of analyzing the typical teleoperation control modes, this paper brought forward controlling means of the system, that was, designed a virtual robot in remote terminal which corresponded with the real robot in structure and function, compeleted the control of robot through operating the virtual robot. And it set up the model of hierarchical control.Secondly, when designing the information system, we divided the information into two types- viedo information and non-video information, and transmitted them separately to enhance transmission rate. Non-information, mainly including directive and information of robot's pose and environment, was transmitted on WLAN which corresponded to IEEE802.11b standards using TCP/IP protocol; video information was transmitted by data radio that worked in 223~235MHz band and enhanced its quality by using multi-buffer and multi-thread techniques. For delays inevitably existed in the transmission, we analyzed its cause and type, then simulated it in lab and brought forward resolutions.Thirdly, after analyzing the robot's hardware and control structure, this paper set up its geometric and kinematics model, then bulit virtual environment by OpenGL and Visual C++. We got stereo images by dual-projector and HMD.Wearing data-glove made HCI (Human-Computer Interaction) convenient and natural.