Research Of Telerobotic System Based On The Video Telepresence

Teleoperation system with master-slave robot at the core can be complex manipulated in uncertain or extreme environment. The quality of operation is correlation with the ability of getting information (such as force, vision, etc.) about the slave side. The dynamic reciprocity between robot and operated object can be felt by teleoperation system on account of the video telepresence and virtual scene, which make the operator accomplish complicated and exact operation. Furthermore, the VR technique of the teleoperation system with telepresence can not only provide the operator with verisimilar ocular information, which can not achieved by the single video feedback, but also favor of minishing the disadvantage of time delay in the teleoperation system. Nowadays the research of technology related with telepresence is gaining greater attention.The theory of teleoperation is that telerobot working on spot is controlled by an operator with force feedback joysticks at safe location. On the one hand, the control command of the operator is transmitted to the distance robot via wireless communication tache, on the other hand, it is responsed by the graphic robot in the virtual scene immediately, which leads the virtual robot to corresponding movement. Moreover, the image of on spot is transmitted to the screen in front of the operator by Digiclops stereo video system fixed in the telerobot. Compared with operating with the prompt by image only, the working efficiency is improved greatly by such working of the prompt of highly telepresence. With the development of society and economy, there are more and more demands in the rescue area. So this telerobot with the prompt of highly virtual reality system will be of unique superiority in the rescue area. And it should have great effect on society and economy.In my paper, We have set up a telerobot system with video teleprensence technique after analysing telerobot system with video feedback in home and abroad. The system comprises master-slave manipulator, electron hydraulic servo subsystem, position servo control subsystem, video telepresence subsystem and wireless communication subsystem. And the Digiclops stereo video system, stereo vision as well as video telepresence based on VR are discussed in great detail in this paper.We have accomplished main reseach work as follow:1. We have firstly set up the telerobot with force telepresence and video telepresence based on eletron hydraulic servo control system in home, whose characteristics are teleoperation, high precision position control, automatic recognition and video telepresence. If this system is applied to extreme environment, the working efficiency can be risen greatly.2. Based on this set of stereo vision system, We take images information of the work pieces and the ambience in the camera visual field, analyze these images and carry on a sequence of images pressing, achieve three-dimensional coordinates of the spatial points, we can get the control over the robot through the computer to automatic realize the work pieces and increase 3D data processing at present.3. The graphic simulation based on OpenGL realizes on-line real-time simulation of construction robot and overcomes the disadvantages of traditional graphic rendering's dependency on expensive graph workstation. Aiming at the particular structure of the hydraulic master manipulator, we introduce a simple algorithm based on the relation of the line to line and the relation of the line to plane to deal with the real time collision detection between graphic robot and the operation task, referring to the bounding volume hierarchy method. At last, we prove by experiments the validity of the algorithm.4. This study deals with the evaluation experiment of telerobotic system based on the video telepresence. This evaluation experiments are include the efficiency of operation, subjective measures and physiological measures. After compare and analyze the experimental results of two modes with video telepresence and single video feedback , which provide the experience for improving the video feedback model based on the video teleprence method. The NASA-TLX is applied to measure the feeling of operators. In the subjective measures, with video telepresence in operation can lighten the loaded burden of operator in mental and physical demand, which is very important for safety in operation.The research topic in the paper is the telerobotic system based on the video telepresence. The experiments are carried out to confirm the validity of the plan. The completion of the system will provide a lot of experiences and key techniques on creating a available teleoperationsystem.