Research On Master-slave Tele-robotics System Based On Virtual Reality

With a complicated structure, the nuclear power plant and it’s runnning environmentare both radioactive. As the same time they also can have a performance under water, hightemperature, high pressure and other factors. As the radioactive water surface is so big,what’s more, there is no reliable measure to prevent foreign bodies，in case of a dropping, itwill have a serious effect on the plant’s smoothly operating. At that time, normal humansalvage seems useless. So a perfect underwater robot, which can resist radiation becomes aeager goal for the nuclear industry. This work supported by the topic of multi-functionalunder water robot for nuclear plant from Hi-tech Research and Development Program ofChina(No.2011AA040201) researches the robot work system.The main researching contents as follows:1、Master-slave teleoperation plant underwater climbing robot system is designed.Containing main control system, adjunctive control system and monitoring system, theusing of LabVIEW software achieved the human-computer interaction interface, and builtthe joint motor coordination control experiment based on the CANopen agreement, whichsolved the contradiction between traditional motor control system and moving robot motorcontrol system.2、The analysis on robot kinematics simulation forward verified the kinematics inversesolution with matlab. The combined application of LabVIEW and Solidworks built thevirtual nuclear power modle of robot, and realized the control for virtual nuclear robot.3、Researching a force feedback master-hand equipment. Mechanical part is a2DOFmaster-hand with force feedback, the control module consisted of power panel, control paneland driver panel, the row needle between layer and layer. It has reduced the installing area.Via a serial port assistant experiment, ultrasonic distance signal changes into the motortorque of master-hand with this module. The operator will feel force and it will becomebigger with closer distance.4、Processing the master-slave teleoperation robot grab experiment. Along with thevideo images of slave robot, virtual robot motion posture on the screen, joystick control therobot to grasp the foreign body. The robot can complete a series of actions such as searching, grabbing and so on. The operator salvage the foreign body faster and moreefficiently. All of this successes results have verified the feasibility for this system.