Design And Research Of Hand Master-slave Control System Based On Virtual Reality

In the real world,human exploration and development of external things are mostly through the interaction of hands,so the safety protection of hands is a very important part of occupational safety.Among the existing technologies on hand safety protection,master-slave control technology has been widely studied and applied in the field of safety engineering to reduce the occurrence of safety accidents.However,through investigation,it is found that the traditional master-slave control technology has not met the current needs of production and life,and even become a new security risk.In order to solve the security risks exposed by traditional master-slave control,this study combines hand master-slave control technology with virtual reality technology,and designs and studies a hand master-slave control system based on virtual reality technology.In this thesis,the functional requirements of the system are analyzed first.Through virtual reality technology,operators can operate slave devices immersively and synchronously to achieve the effect of three-party synchronization of human,manipulator and virtual hand.It mainly includes the building of data collection platform,data resolution and processing,control algorithm design and virtual environment.The key of hand master-slave control is the collection of hand movement information,so this thesis first establishes a hand data collection platform for collecting finger movement information and palm posture information.The original data collected is analyzed to get motion data which is easy to recognize and process.The motion data is obtained by posture fusion algorithm and limit dithering to drive the subsequent slave interactive devices and virtual models.In this thesis,a five-finger bionic manipulator is designed with three-link coupling structure as the slave interactive device of the system.This structure not only can achieve the movement of the hand well,but also has a certain degree of adaptability.The master-slave control function can be achieved through the control algorithm.In order to allow operators to immerse master-slave control,this thesis uses Unity3D and 3DsMax to build the application of virtual hand master-slave control.The driver data of the hand can realize the synchronous interaction between virtual environment and real environment.In order to solve the lack of physical constraints in the process of virtual-real interaction,a virtual capture algorithm and two judgment conditions of stable capture are adopted.Maximize the movement of your hands in real life.Finally,by optimizing and debugging the master-slave control of the hand and the virtual-real interaction of the hand,the effect of the three-party synchronization of the hand,the manipulator and the virtual hand is achieved.