Research on 3D Simulation System and Algorithm for Robot Teleoperation

DOI

10.2991/asei-15.2015.197How to use a DOI?

Keywords

robot teleoperation; kinematics algorithm; master-slave control; 3D dynamic simulation

Abstract

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.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Linlin Yan
AU  - Fang Xu
AU  - Kai Jia
PY  - 2015/05
DA  - 2015/05
TI  - Research on 3D Simulation System and Algorithm for Robot Teleoperation
BT  - Proceedings of the 2015 International conference on Applied Science and Engineering Innovation
PB  - Atlantis Press
SP  - 997
EP  - 1005
SN  - 2352-5401
UR  - https://doi.org/10.2991/asei-15.2015.197
DO  - 10.2991/asei-15.2015.197
ID  - Yan2015/05
ER  -