Human-Robot Interaction Of Teleoperation System Based On Virtual Simulation

With the development of society and the improvement of people’s awareness of health protection,robot teleoperation technology is more and more used in harsh working environment and dangerous tasks to provide operators with a comfortable and safe working environment.The telepresence,operation experience and security are the key indicators to measure the performance and technical level of the teleoperation system.Virtual simulation technology can reflect the remote scene in real time on the main end.It is one of the key enabling technologies for the realization of the teleoperation system.It plays a key role in the realization and performance of the teleoperation system.The research on human-robot interaction of teleoperation system based on virtual simulation is carried out in this topic from the system level and the unit level.The main research contents are as follows:(1)This paper analyzes the functional requirements of the teleoperation system including the virtual simulation link,introduces the types of the master and slave hardware of the teleoperation system,constructs the overall architecture model of the teleoperation system including the virtual simulation link using the analytic hierarchy process,summarizes the main characteristics and functions of the master and slave mainstream software,establishes the basic framework of the master and slave software,and provides a useful reference for the design and construction of the teleoperation system.(2)The human-robot interaction of force feedback in teleoperation system is studied.The human-robot interaction principle of force feedback hand controller in virtual simulation environment is analyzed.Facing the application background of mechanical parts grinding,the basic principles and application approaches of two typical geometric mesh generation methods,surface mesh method and volume mesh method,are summarized.The collision detection method of octree search algorithm in virtual environment is introduced,and the main force rendering algorithms such as potential field method are analyzed and compared.The method is applied to an example to verify the feasibility of the virtual force feedback generation mechanism.(3)The spatial mapping and security of human-robot interaction(HRI)in teleoperation system are studied.The structure difference between master and slave robots is analyzed,and joint space mapping and task space mapping are used to realize teleoperation control.The safety problems in teleoperation are discussed,and the method of virtual fixture is used to protect the operation safety of robot teleoperation.The Monte Carlo method is used to fuse the robot collision detection to achieve the reachable space detection,so as to determine the space range of the prohibited fixture.Provide operators with comfortable and safe human-robot interaction experience by optimizing space mapping and providing virtual fixture.(4)After constructing the virtual simulation teleoperation system,the teleoperation system and human-robot interaction problems are verified.Build a3-DOF teleoperation experimental platform to accumulate technical foundation for the 6-DOF teleoperation system.The force feedback hand controller is used as the main control and tactile device of the teleoperation system,and the 6-DOF robot is selected as the executive mechanism at the slave end.The 6-DOF teleoperation experimental platform is built,and the virtual simulation teleoperation system is built at the main end to verify the virtual simulation and teleoperation technology.The feasibility of the prohibited fixture is verified by designing the prohibited fixture in a certain area.