Tele-robot Control System with Online Virtual Simulation Prediction

doi:10.16182/j.issn1004731x.joss.18-0109

Abstract

Abstract: When a tele-robot with virtual simulation system works in a complicated environment, the virtual scene may not synchronize with the real one. This may cause the operator on the master side to give wrong instruction. This paper presents a tele-robot with online virtual model correction. The virtual simulation system on the master side builds a virtual model of environment and robot on the slave side. It predicts the motion of the slave robot in real time according the commands from the operator. In order to ensure the virtual scene synchronize with the real one, the measured data on the slave is transmitted to the master and used to correct the virtual model on-line. The experiment results show that the virtual simulation system can correctly predict the robot state and the virtual scene can synchronize with the real scene when the slave does not move as commanded.

Key words: virtual simulation, prediction, tele-robot, online correction, synchronization

CLC Number:

TP391.9

Hu Lingyan, Shi Kangbai, Zhang Bichun, Xu Shaoping. Tele-robot Control System with Online Virtual Simulation Prediction[J]. Journal of System Simulation, 2020, 32(2): 247-254.

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