Research On Telerobot System Based On Virtual Reality

Based on the rapid development of computer graphics and many disciplines involved, virtual reality(VR) becomes one of the most watched technique in the twenty-first century. VR technology has been widely applied in industrial manufacturing, military, digital media and other aspects, with great potential. Research and Implementation of Virtual Reality Technology Based on Virtools in Telerobot System means to bring virtual reality into teleopration system, provide the operator a immersed world, in which the operator can contact with the work spot freely. By establishing a teleoperation virtual system with3D modeling and Virtools technology, the robot and its virtual model can be controlled with a contral panel at the same time. The teleoperator can easily accomplish the operation with much more vivid visual telepresence information by changing the camera and the viewpoint of the virtual environment, which can not be achieved by the single video feedback. That not only strengthens working ability of the actuatorbut also widens application areas of the device. Manipulator can safely and cozily completestasks by teleoperating the robot. The main research content is as follows:(1) The basic features and fields of application of numerical prototype technology are introduced, major contents and difficulties are pointed out in the paper. The author sums up the present research situation of teleoperation at home and abroad and the tend of it at home, and also explain the necessary and importance of applying numerical prototype technology in the field of the research of teleoperation.(2) On the basis of structure analysis and communication mode of robot,3D modeling of the robot and virtual environment were found in SolidWorks and Virtools. Also, the dissertation lay out the overall blue print to design the synchronization system.(3) Each component movement rules of robots are analyzed. On the one hand, the dissertation analyzed the chassis movement and positioning methods of robot. On the other hand, making further study of the use of servo drives and motion control of manipulator positioning method. The dissertation took the use of Arduino controller and serval potentiometers to develop a control panel.(4) Complete the program on the datas of serial communication by the application of Visual C++, Arduino IDE and Virtools SDK realize the synchronization motion control initially. Through the use of datas obtained by multiple experiments, the dissertation raised a number of viable approaches to the problem.(5) Collision detection, rendering and some cameras are added in the virtual environment. Further proved the the feasibility and reliability of the synchronization motion control method of numberical prototype and real machine vir VR through numerous experiments and the flow chart of the system, the core code example and the final experiment pictures were included.