Research On Teleoperator Based On Virtual Reality

A teleoperator is a kind of robot which be widely used in space exploration, ocean exploration, working in dangerous environments and so on. Remote operation based on virtual reality (VR) technology, as a good resolution;combine the VR with the teleoperator in order to overcome the difficulties in remote controlling. The major research in this thesis are divided in three part, part one, time delay problem in communication under network environments;part two, research on Virtual Reality technology;part three, research on structure of a teleoperator system.We do some researches on time delay in remote communication, analysis the factors, which arise the time lag in TCP/IP network communication, and point out the essential reasons to the communication problem. Also, we give three ways to resolving the problem, decreasing and eliminating the random time delay, changing the random time delay to the fixed time delay, designing a special controller which could deal with the variable time delay in communication system. In this thesis, we just complete the first method and the second method.VR technology, as a kind of human-machine interface technology, is prevalent in recent years. It is often used to bring some vivid sense to operators. The study about VR concentrates on the action that the VR takes, the mode and method how to introduce VR to teleoperator, and make a way to modeling a virtual robot.Three independent parts consist of a typical teleoperator, manipulator, communication and remote robot, and the functions to each part are affected by many factors, especially, the mode of the remote operating. A teleoperator, integrating two or more type of operating mode, usually has some same functions on the two side of teleoperator, we classify all the functions to two class, the basic functions and the extend functions. A teleoperator system based on network is a distributed computing system if we look it from the computing mode point of view, so the software should be contributed application software.At the end of this thesis, we develop a suit of network teleoperator software based on VR according to the research results, and do some experiments on it. The software implements the communication system with COM/DCOM and Socket, and special application layer protocol, VRSCP, which is designed according to the communication's need. The client software implements simulating functions by drawing 3D robot model in OpenGL, and a path-planning algorithm also is brought forward. The server software implements the main functions, such as path generating, interpolating, and a PID servo controller.