Telerobot control system based on dual-virtual model and virtual force

The virtual-reality technology and robot virtual force feedback technology are researched both on theory and experiment. The telerobot control system based on dual-virtual model and virtual force is presented. The 3D visualized virtual operation platform is developed combined with 3DS Max, OpenGL and Visual C++ with the six DOF MOTOMAN robot. System architecture is analyzed and the synchronization relationship between virtual environment dynamics model and real solid model is also researched. Coming to the conclusion that the virtual environment dynamics model must be compatible with real solid model, in order to realize teleoperation develop circumstance based on virtual reality prediction technology. A spring-damping virtual predicted force model that can be easy achieved is built, combined with which the visual predicted control of the remote robot via virtual reality technology. based on dual-virtual model and spring-damping virtual predicted force, simulation and Experiment test and verify the availability of the telerobot control system.