Research On The Key Technology Of Virtual Control Manipulator

The control technology based on virtual reality has a wide range of industrial application prospects.Musk,the leader of Tesla company in the United States,has shown us the intelligent application field of biological robots and the impact on people's life and work.With the continuous development of communication technology,5g technology has been produced.The millisecond level communication speed can make the virtual remote control technology to a higher level.In the future,the requirements for control will be higher and higher,and the working environment will be worse.Using virtual reality technology and ultra long distance control can make the staff get rid of the shackles of the working environment.This paper divides the whole system into three parts: operation side,server and execution side.The application of virtual reality technology is studied and designed in the operation end,including the development of data glove and 3D virtual control software;the kinematics of the manipulator and the control system of the manipulator are studied and designed in the execution end,including the development of Linux control equipment and embedded control software of the manipulator;the SSH in ultra long distance mileage is studied in the server end Data transmission applications.In the design of data glove,the data acquisition and data processing of mpu6050 inertial sensor are mainly studied and designed.A comprehensive filter for mpu6050 data processing is found by MATLAB simulation and experiment,and the available control data is obtained.The inertial navigation and motion capture are realized,and the hardware circuit is designed.Combining wireless network communication technology with data glove,the data transmission format is defined,and the wireless network transmission of data isrealized.Using Pro / E and 3ds Max to model and render the manipulator respectively,and unity to 3D model the manipulator,and integrating 3D model and video signal of the manipulator in VS,3D virtual control software is designed.Linux equipment is the control equipment of the mechanical arm.The hardware circuit of Linux equipment is designed,and the control software is designed by QT4.The kinematics of the manipulator with six degrees of freedom is studied.Through the study of its inverse kinematics solution method,Newton iterative method is decided to be used for iterative solution.Through the debugging of the whole platform,the basic control function is realized.In this paper,virtual reality technology and Internet communication technology are combined to realize the preliminary control of the ultra long distance manipulator through data gloves.It provides a solution for the work in complex and dangerous environment,and provides a reference for the development of virtual remote control industrial manipulator.