Virtual Reality Assisted Teleoperation Robot Operating System Research

In the face of harsh deep-sea and space exploration environments and delicate operational requirements,teleoperated robots can replace humans in a variety of difficult and important operational tasks,and are one of the main means of conducting exploration activities.However,the spatial separation between the operator and the robot makes it difficult for the operator to access spatial information about the robot’s environment,resulting in low operator immersion and large signal transmission delays,which seriously reduces the quality of teleoperated operations.In this thesis,we use virtual reality technology to assist the operator in controlling the teleoperated robot operation,and the main research contents are as follows:(1)A system based on virtual reality-assisted tele-operated robot operation is designed.By building a remote virtual reality operating environment,the operator wears a head-mounted virtual reality device to obtain virtual 3D visual information and thus obtain depth information of the target environment,and together with the remote video streaming information,the operator is assisted to control the tele-operated robot to complete the operating task through the master hand force sensory interaction device.(2)In view of the structural characteristics of the master and slave devices,the D-H method is used to establish the linkage coordinate system of the master and slave devices,and the positive kinematic solution is carried out,and the inverse kinematic solution of the slave devices is obtained using the geometric method.The work space of the master and slave devices is compared and calculated according to the positive kinematic solution of the master and slave devices,and the work space mapping algorithm of the master and slave devices is established to provide a theoretical basis for the control of the master and slave devices.(3)Build virtual reality environment and communication system.Complete the virtual geometry model construction and adjustment,and import the Unity3 D development environment to establish the remote virtual operation environment.The collision detection principle and collision detection trigger conditions of the virtual development platform were elaborated,and the master hand force feedback prompt function was developed in conjunction with the Geomagic Touch force sensing interactive device.The 3D reality platform is built through the HTC-VIVE head-mounted virtual reality device to cue visual depth information for the operator.Use MFC technology to write the master-side upper computer,build a Socket client/server,and establish a communication system between the master hand side,virtual side and slave controller modules.(4)Build a virtual reality-assisted tele-operation robot operation platform to achieve normal data communication among the master,slave and virtual slave,and synchronous motion of the physical slave and virtual slave devices and meet the motion accuracy requirements,and verify through group experiments that virtual reality assistance can improve the immersion of operators and enhance the efficiency of tele-operation operations.