Research on 3D Simulation System and Algorithm for Robot Teleoperation

摘要

For experiment platform of robot teleoperation control system requires expensive robot and master equipment, a method of robot construction of 3D simulation system for robot teleoperation is presented. According to the analysis of composition of robot teleoperation control system, the master equipment of Delta parallel mechanism is chosen, Delta parallel robot and SCARA serial robot is chosen as the slave-robot, and TCP/IP protocol network is chosen as communication model between the master and the slave. According the study of the kinematics algorithm for the master and the slave for robot teleoperation system, and the study of control algorithm for robot teleoperation system, the 3D dynamic simulation system for robot teleoperation control system is developed by use of the mixed programming of MFC and OpenGL. The practical simulations verify the reliability of the control algorithms of robot teleoperation control and the communication model, and show the value of the simulation system of teleoperation in the research for the robot teleoperation control.