Development of a teleoperation system based on virtual environment

摘要

The robotic teleoperation technology is a promising application of robotics. On the basis of a master-slave Minimally Invasive Surgery robot system, the principle of teleoperation based on virtual reality technology is proposed. The visual simulation system, which makes virtual slave manipulator map the actual master one, is established. In virtual environment, two models of robot manipulator in a superposition are set up. One is controlled by the local signal and the other is controlled by remote returned signal. Experiment is carried out to verify the effectiveness of the simulator. The results show that it can satisfy the requirements for master-slave correspondence in virtual operation. The motion path fluctuations of slave manipulator are around the ideal path in the simulator. The existing time delay and packet loss have an influence on slave tracking master trajectory, and the path motion deviation increased with the increase of time delay and packet loss.