Design Of Welding Manipulator Teleoperation System Based On Virtual Reality

The final goal of this paper is to realize the design of manipulator teleoperation systembased on virtual reality. This paper discussed how to apply virtual reality technology withteleoperation to welding manipulator system.This paper discussed the method for creating interactive virtual scenes. Constructed aninteractive virtual scene in PC by using OpenGL and Qt as the development tools, so that theoperator can control the manipulator model in virtual scene by using an operating rod. Thisenables the operator to know more effectively in manipulator’s posture information.Thecoordinate system is established by D-H method, the homogeneous transformation matrix isputted, deduced the manipulator kinematics equations. By setting the system parameters, thekinematics equation is verified. Descripted the manipulator workspace by using graphicmethod. This method can directly see the boundary of the manipulator workspace.Workspacecould describe the working ability of the manipulator from the view of geometry.Introducedthe control theory and realization method of the real manipulator, and introduced therealization process and functions of video monitoring, by using the graphical interface of thesoftware platform, provides an interactive interface to the operator, the function module of thesystem are integrated into this software platform, so that provides friendly interactiveenvironment to the operator’s operation.Finally, the system developed that operator through the virtual manipulator to teleoperatephysical manipulator function. Moreover,if the operator first complete a series of actions, thesystem will automatically record the path information, then realized the teaching and playbackfunction.