Design And Research Of Tele-operated Virtual Construction Robot

The tele-operation construction robot system is a remote operating system that completes complex engineering tasks under the operation of human-beings, which can help human beings work in dangerous and extreme environment. However, there is a large time-delay in the signal transmission between the operator and the remote construction robot, and so the stability and maneuverability of the system are greatly influenced. Using virtual reality technology in the tele-operation construction robot system can effectively resolve the time-delay influence to the system, helping the operator to know the information of the work site better and improving the work efficiency of the tele-operation.The virtual construction robot is an important part of the tele-operation construction robot system based on virtual reality,which includes a variety of techniques, the main of them are modeling techniques and collision detection techniques. In the theoretical conditions, as long as the virtual environment is consistent with the real environment, the state changing of virtual construction robot can be reflected in the real environment. Therefore, the choosing of modeling method is particularly important, appropriate modeling method can not only meet the realistic model requirement, but also can reduce modeling difficulty. The accuracy and efficiency of collision detection between the virtual construction robot and the object largely affects the immersion and telepresence of the tele-operation system. And excellent collision detection algorithm can minimize misjudgment and ensure the system in real time.Therefore, to improve the immersion, tele-presence and real-time of tele-operation system, virtual construction robot’s modeling and collision detection technology are studied in this paper. The main work and conclusions are following:1.To improve the authenticity of the virtual environment and to reduce development difficulty, according to the structure and motion characteristics of the construction robot, the hybrid modeling method of combining OpenGL functions modeling with SolidWorks modeling is adopted to the geometric modeling of the virtual construction robot.2. To meet the motion control requirements of the virtual construction robot, the kinematics model of virtual construction robot is deduced by D-H nonation and the conversion mathematical model between each of the servo-hydraulic cylinder displacement variation and the angle of adjacent joint angle is established on the basis of analyzing motion characteristics of the virtual construction robot. 3. The mathematical model of position relationship between the virtual manipulator and the object is deduced, which is laid a mathematical foundation for the accurate collision detection between the virtual manipulator and the object.The experimental results show that:The modeling method adopted not only meet the realistic modeling requirement of the virtual construction robot, but reduce modeling difficulty and shorten the development cycle;The collision detection algorithm is feasible and effective,accurate collision detection between the virtual manipulator and the object is achieved.