Study On The Teleoperation System With Force Telepresence Of Underwater Robot Based On Virtual Reality

The successful implementation of underwater robots teleoperation system of nuclearpower plants, greatly improve the operation ability of the robot. The robot can replacemaintenance operations personnel to finish foreign matter inspection in the reactor core andpools and salvage operations and so on. The works of the teleoperation system with theforce telepresence includes, on the one hand, the movement information is transported tothe robot by the master equipment; on the other hand, the physical interaction of the robotsuffered in teleoperation is feedback to the operator by the master equipment. The systemcan command the slave-robot to complete precise tasks and it has high efficiency.The main content and the innovation of this paper are:（1）For the underwater robots of nuclear power plants, the teleoperation robot systemis established, the force telepresence is applied and system’s installation and commissioningis completed.（2）A new2-DOF robot teleoperation equipment is designed. The methods aboutanalyzing the structure and operating performance and so on can provide a certain referencefor teleoperation system design.（3）The teleoperation system modeling is established. The model of mechanismsystem is transformed into electricity system of their equivalent. Based on the passivity, thecontrol strategy of the scatter operator method for time delay is proposed.（4）A PID-Sliding mode control strategy about this system is devised. Experimentalresearches on position and force follow characteristic are done. It can improve the system’scontrol effect.These researches can improve the characteristics of force telepresence of the system.