VR技术在力觉临场感遥控作业系统中的应用研究

Research of Force Telepresence Teleoperation System Based on Virtual Reality

目前虚拟现实（ＶｉｒｔｕａｌＲｅａｌｉｔｙ简称ＶＲ）技术应用到力觉临场感遥控作业系统，可以有效地解决系统的时延问题。本文首先研究了遥控作业虚拟现实系统的构成和实现原理，然后针对力觉临场感遥控作业系统时延问题，建立了力觉临场感遥控作业虚拟现实系统，阐述了虚拟力的产生以及虚拟接触的检测，最后提出了一种力觉虚拟现实实现算法，并构造实验系统验证了该算法克服系统时延影响的有效性。

Virtual Reality technology is a power tool to solve the time delay problem of force telepresence teleoperation system at present.In this paper,the composition and realization principle of teleoperation virtual reality system are researched.To solve the time delay problem, a algorithm for realizing force virtual reality is proposed.A experiment system is manufactured to confirm the validity of the algorithm.