Teleoperation Of Robot Based On Virtual Reality

It is very meaningful to research the teleoperation of mobile robot based on virtual and reality. The virtual reality technique is applied into human-computer interaction,then the operator would have better feeling of immersion and human-computer interaction would be more natural and facile. Being a kind of person- machine interaction, it has vast applying foreground. Teleoperation system of mobile robot is set up based on country 863 item which is upgraded and rebuilt. Virtual reality technology is used to study how to carry on virtual long range control to the robot. What followed are the main contents:Firstly, design the total frame of the whole system according to the principle of teleoperation of the virtual reality robot. Set up the virtual robot and virtual environment according to the real scenery. The virtual robot which is the agent of long range robot in the virtual environment is operated to complete the control towards the long range robot.Secondly, based on analyzing the movement character of mobile manipulator, kinematics sub-models of the manipulator and the wheeled mobile vehicle are established. Then the unified kinematics of mobile manipulator is analyzed.The virtual robot is built using the general industry molding software UG. For verifying the accuracy of the model, simulation analysis is made about this model. Compare the simulated data and the actual data then could make sure the built model meets the virtual scene demand completely.Thirdly, making mold for real scenery, the building data of real scenery is needed to collect precisely to find out actual length, breadth and height with ruler. After acquiring the anterior data, set up mold in 3DSMAX. When the scene model is built well then export it as 3DS document format which EON can identify. Import the two documents to EON and set their position relationship well.Lastly, operator transmits instruction to remote controller through making use of WLAN to build up high speed, broad band correspondence network. In the Visual C++ environment, WINSOCK control widget is applied to program to carry out network correspondence which is built on foundation of the TCP/IP.