Design And Implementation Of Dexterous Hand Teleoperation System Based On VR

The most of labor for human is completed by hands. The achievement on application of robot arm has been focused people's attention upon in industry. If a dexterous "hand" had been fitted up a robot arm, maybe it would have not been further to a time of real robot operation. Surveyed the dexterous hand from the nation to abroad, they have a high dexterity. From the reports, the dexterous hand can imitate human being to accomplish some refined manipulations through corresponding the fingers and holding the positions in space and fitting the shapes between a hand and an object. So the dexterous hand, as an end manipulator, has a prospect for the applications working in some hazardous environment, such as nuclear energy, out space and blue water.It is seem that robot has an inherent "responsibility" to work in dangerous environment. However, the robot is not an "adult". In the condition of present maturity of robot, the human-machine cooperation would rather be a more realizable selection than the robot performs a task independently and difficaltly in a complicated environment. That is human participates in programming the plan of robot hand with telemanipulation, using human's intelligence. That means a local operator uses a telemanipulation device to realize the remote for robot hand, helping robot to accomplish various tasks.The virtual reality technology, as one kind of visual tool, is helping to improve the interface of remote control system. The robot dexterous hand technology and the remote technology are integrated with the virtual reality technology, in order to build a remote control platform of a virtual reality robot dexterous hand. Particularly the virtual reality technology has been applied to research and develop a " presence " virtual operation interface that is a human-machine interactive system, so as to control the remote object more accurately. It is significance for improving the grasp efficiency and reliability for telemanipulations of robot dexterous hand.The project is to research the design and implement of a robot dexterous hand teleomanipulation platform based on virtual reality technology, using a lab robot dexterous hand. From the view of control, it is a master- slaver remote robot system and consists of 3 parts - master hand, slave hand and robot dexterous hand operation platform. The characteristic is that the virtual hand acts as a master hand and real hand acts a slave hand. An operation personnel manipulates the 3D-virtual hand directly in a virtual enviroment by clicking a control penal via mouse, then driving a real dexterous hand synchronously to complete all kinds of operations. It is expected that the costs of the system will be cut down due to reduce the control taches.There are some control modes and functions as follows in the system.·Adopting direct control mode: An operation personnel manipulates the 3D-virtual hand directly in a virtual enviroment by clicking a control penal via mouse, then drives a robot dexterous hand synchronously to complete all kinds of grasp tasks. It is realized that human can telemanipulate the robot hand directly.·Adopting T/P mode: At first an operation personnel show robot dexterous hand how to implement a grasp task, and then robot dexterous hand will fulfill automatically the similar tasks itself. The T/P for the remote dexterous hand can be realized.·Adopting automatic mode: The virtual hand makes grasp modes automatically as per the object characteristics (geometry and position and gesture of object), previewing the grasp process. It is realized that the virtual hand can create a grasp plan automatically.At first the thesis is on the basis of kinematics analysis of robot dexterous hand to construct a virtual operate scene in computer through the Development Tool of OpenGL and VC++, and the operation personnel know more directly and effectively the position and gesture of robot dexterous hand and collision information. Secondly, it is discussed in theory the ways to grasp object by robot dexterous hand. After analyzing the grasping tasks of robot dexterous hand, the palm movement plan and hand grasp plan are studying out. Then with reference to the issue of select which kind of grasp modes, 3 typical grasp ways - Parallel Grasp, Center Grasp and Nipper Grasp are presented, and the fuzzy logic is adopted for intelligent selection of grasp modes. Thirdly, after analyze and comparison AABB and OBB's collision detection algorithmics, a set of collision detection algorithmic is designed, and it is feasible and effective and precise for the operation platform of robot dexterous hand. In the end, the experiments for the thesis will be expatiated systemically.Testifying as experiment, it is feasible about the design conception of operation platform for robot dexterous hand based on virtual reality technology. It not only explores a way to control robot dexterous hand, but also builds a lab platform for further research of kinematics and kinetic of robot dexterous hand.