Research On Interactive Technology Of Remote Mobile Robot Based On VR

Since the beginning of the 21 st century,innovative and high technology such as Internet technology,robot technology and Virtual Reality(VR)technology are developing rapidly with the continuous progress of human technology.More and more robot have begun to replace human beings to play an important role in disaster relief,industrial production and other fields.However,there are many problems such as low robot control efficiency and low operator immersion in the actual application of current robots in various scenarios.These problems not only affect the efficiency of human-computer interaction,but also restrict the efficiency of task completion.In view of the above problems,this paper analyzes and studies the research status of teleoperated robots at home and abroad,combines the current popular Virtual Reality technology with robot interaction technology,and studies the immersive image interaction technology and the inverse kinematics solution algorithm of the robotic arm,designed a VR-based teleoperated robot interaction system,which has a strong sense of immersion and a smooth behavior-level natural human-computer interaction.The main research of this paper is divided into the following three aspects:1)Analyze and design the mechanical structure and control logic of the robot.Firstly,the kinematics analysis of the mobile chassis of the robot is carried out,so that the robot using the Mecanum wheel can realize the omnidirectional movement function.Secondly,the structure design and layout of the robot head and arm are carried out according to the physiological structure of the human body,so that the robot can successfully complete the action following function.Finally,the data transmission of the system is designed,and the low-latency wide area network communication is realized by using Socket technology and deploying the server in the cloud to transfer data.2)Detailed design of the human-robot interaction terminal using VR equipment.Firstly,the binocular image collected by the robot is used in the VR helmet to interact with the operator through the principle of binocular stereo imaging.At the same time,the deflection angle of the operator's head is collected to control the rotation of the robot's head,giving the operator a strong sense of immersion.Secondly,by collecting the relative poses of the operator's head and hand,and calculating the inverse kinematics of the robot arm,the operator can realize the behavior-level control of the robot arm through the VR handle,which further enhances the immersion of the system.Finally,the logic of the robot's omnidirectional movement is analyzed,and the VR handle is used to realize the control function of the robot's omnidirectional movement.3)Improve the Cyclic-Coordinate Descent(CCD)algorithm.Firstly,the coordinate system of the humanoid manipulator used in this paper is established according to the kinematics,and then the D-H parameters of the manipulator are solved,and the obtained DH parameters are substituted into the link coordinate system transformation matrix of the manipulator to solve the forward and inverse motions of the manipulator.learn.Then the inverse kinematics problem of the manipulator and the principle of the CCD algorithm are analyzed respectively,and an improved CCD algorithm is proposed to improve the running speed of the algorithm,and the performance of the improved algorithm is proved by experiments.Finally,this paper develops the first version of the human-computer interaction system based on the research,and tests and analyzes its omnidirectional mobility performance,data transmission performance and immersive natural human-computer interaction experience.Experiments show that the functions of the system meet the expectations,and the operator can easily grasp the target object with immersive natural human-computer interaction,which fully proves the feasibility of the theory studied in this paper.