Research On Teleoperation Robot Of A Prototype System Based On Virtual Reality

When the human work in the environment which is in space, deep sea, nuclear test site and dangerous,and harsh or hard for reachint,the robot can be used as an extension of human intelligence, to expand capacity of human perception and action. As the current limitations of artificial intelligence, to achieve task security and effectivly for autonomous robot operation is not realistic, therefore we were smart with the autonomy of the robot by combining virtual reality.adding the virtual reality technology into the robot remote control system, not only enhance the operational capacity of remote implementing agencies, but also to expand the device's applications, helping operators to control the robot to finish task security and comfortably.In this paper, the most work is to research the teleoperation prototype system based on virtual:Based on the virtual reality technology and remote operation technology,deeply studying the virtual realitybased teleoperation robot system's overall, structure operation principle and system of main function modules ,building the theoretical framework of the system.For the 5DT Date Glove-16W data glove, the studying the data glove calibration and how to obtain sensor data of the data gloves, based on applicating development kit (SDK),to develop a data glove and the remote operating system interface, set up a operating system software platform which is using the data-glove for the remote input deviceBased on virtual modeling technique, construct the robot and its work environment, read the model file in openGL and redrawing robot., set up the robot's coordinate system for each pole, and use the D-H method to solve the robot kinematics solutionBased on the framework of the robot teleoperation platform based on the Virtual reality, to compile he robot kinematics solution program, the glove interface program, surveillance video program, Quest3D browser into a virtual reality based teleoperation prototype system platform, and create a form based on the OpenGL platform, test the graphics operation based on data glove,construct the the initial prototype telerobotic system based on virtual reality.