Modeling And Rendering Of Virtual Force In Robot Teleoperation System

When the human work in the environment which is in space,deep sea,nuclear test site and dangerous,harsh or hard for reachint,the teleoperation robot can be used as an extension of human limbs to expand the capacity of human perception and action.Haptic is an important channel for teleoperation system in interactive,it can greatly enhance the operator's telepresence.The virtual force can provide feedback information to the operator in real-time by adding virtual reality technology into the robot teleoperation system.It can not only avoid the impact of network latency,but also improve the control accuracy and the work efficiency.In this thesis,we depth study the virtual force modeling and rendering technique in robot teleoperation system.We establish the robot teleoperation system,and render the virtual force in the system according to the two models we establish.First,we analysis the principle of virtual force rendering in the teleoperation system and research on relevant technology of the main module.We design the structure of the robot teleoperation system which one has virtual force rendering function.Second,for the modeling of virtual force,we establish a mass-spring model based on object surface segmentation which is more convenient in counting and expanding.The sum of spring forces are corresponded with external force,and the sum of displacement of each node equal to the total deformation.Based on the study of viscoelastic theory,we establish a mass-spring-damper model which one can reflect the viscoelastic properties of the object by adding dampers into the module.Finally,using OpenGL,DirectX application programming interface,and force feedback joystick,we build a virtual force render robot teleoperation system in the Visual C++environment.The operator controls the robot motion through the joystick and can receive the visual and the force feedback in real-time.By using the models we establish,we experiment upon visual force render robot teleoperation.Accroding to the results,we can draw the conclusions:the deformation effect of the model is good;haptic feedback feels continuous and steady;the models accord with the requirement for real-time.