Research On Tele-operation System Of Robotic Manipulator Based On Virtual Reality

Tele-operation systems can extend the human being's abilities of apperception and operation, replace people to finish their job in some dangerous, abominable or excessive environment. With the rapid development of the Internet, the Internet-based tele-operation technology is growing up to an important and hot topic all over the world.This paper studies the structure and framework of the system of tele-operation, and built a internet-based tele-operation .The system was divided into several models, such as mode building model, scene driving model, apparatus monitoring model, information process model, 3D displaying model.The construct of virtual environment, the key technology used in these subsystems, was discussed. Construct of virtual environment model, architecture of animation are analyzed. High-level characteristic of virtual environment and main algorithm are analyzed,such as collision detection , principle of animationInternet time-delay is the key inherent problems in tele-robotics based internet. In the paper , the affection of time delay is discussed. To solve the uncertainty of time-delay existing in internet tele-robotics, the approach of predictive display based virtual reality is one of the selected ways. Above all, predictive display based position and time is presented in this paper. Based on the current system state and position feedback, local operation system predicts the state of robotic and shows in three-dimensional simulation system. Experimental results demonstrate the feasibility and the validity of this approach.At last, tele-operation system prototype is setup based on virtual reality. Based on the system , writing and predict display test is practiced over the LAN and Internet.