Research Of The Tele-operation Control System Of Dangerous-working Robot Based On The Virtual Reality Technique

In order to ensure the reliability of power supply, most operations are done in live working status, like transformer cylinder cleaning, live-wire breaking, live-T wiring, live-connecting (replacing) insurance. Under the funding of863Program the dangerous-working robot was developed. It can live-work under the condition of high-voltage and high-radiation to take place of workman. Based on the structure of dangerous working robot, we started to research the control system of this robot.In this subject, the virtual reality technology is used in the tele-operation control system of dangerous-working robot in order to solve the problem of "depth". This thesis is composed of four parts:1) composition and structure of dangerous-working robot;2) the kinematics analysis of operating manipulator;3) the software design of the virtual reality of tele-operation control system;4) tele-operation control strategy based on the virtual reality.First, the thesis introduced the composition and structure of dangerous-working robot. Dangerous-working robot is composed of the mobile lifting truck, the operating manipulator, the master control manipulator and et al. The structure of the dangerous-working robot’s body is first introduced, then the insulation and the special tools are described in detail.Second, the kinematic analysis of the operating manipulator is researched in detail. In this section, the D-H method is used to establish six joint coordinates of the operating manipulator and describe the location and posture into coordinate matrix. Then the matrix transformation and matrix decompositions are used to get the positive kinematic solution. Finally the inverse kinematic solution is gotten using the analysis method. The inverse solution can be used to collect the information of master manipulator. All the information are important for future programming.Third, the software design of the virtual reality of the tele-operation control system is introduced. The virtual reality of the tele-operation control system can be divided into two modules:the3D working-scene module and the operating-manipulator module. The3D working-scene module is programmed in VRP-Platform and Microsoft Visual C++6.0, reflecting the real working-scene. The operating-manipulator module is programmed in OpenGL and Microsoft Visual C++6.0, reflecting the operating manipulator location, posture and moving-process.Finally, the tele-operation control strategy is analyzed based on the virtual reality technique. This section introduced the Virtual Reality tele-operation Technology, analyzed the positioning technology in the virtual scene, introduced the composition of the virtual reality system and the hardware structure of the control system. Last, we introduced the four working-method of virtual reality control system.