Research On Task-level Tele-operation Technology Based On Virtual Reality

Tele-operation system can extend the human being's abilities of apperception and operation, replace people to finish their job in some dangerous, abominable or excessive environment. With the rapid development of the Internet, the Internet-based tele-operation technology is growing up to an important and hot topic all over the world.This paper mainly studies the predictive simulation technology of VR-based tele-operation. An internet-based structure has been built and each model has been planed. Development environment of virtual scene has been introduced and robot model has been imported which can well map the robot in real world.In order to reduce repeated operation and process of operator in complicated tele-operation tasks, this paper advances modular task-level tele-operation method so that complicated task can be broken down into motion sequence composed of motion elements step by step.Internet time-delay is the key inherent problem in tele-operation system. In the paper, the affection of time-delay is discussed. To solve the uncertainty of time-delay existing in internet tele-operation, the approach of predictive simulation based artificial neural network is one of the selected ways. According to master command and slave feedback, local operation system predicts the state of robot and shows in three-dimensional simulation system. Experimental results demonstrate the feasibility and validity of this approach.At last, in order to improve operator's tele-presence, this paper builds a map between data glove sensors and dexterous hand and another map between dexterous hand and force feedback, setups robot kinematical model. As a result of this model and Flock of Bird, robot model can be driven by joints and by position as well.