Research on 3D Virtual Environment Modeling Technology for Space Tele-robot

摘要

Abstract To overcome the time delay in tele-robot system, a new 3D virtual environment modeling technology is proposed in this paper. The interactions between slave robot and environment can be attained in advance in a 3D virtual environment in the master side, therefore an accurate operation of space tele-robot can be realized and the effect of time delay would be minimized. Firstly, 3D virtual interaction scenario is modeled as a point cloud data image, and the target objects are recognized from the image and reconstructed by using Random Sample And Consensus (RANSAC) algorithm. Secondly, an effective method is proposed to modify the position of virtual robot and calculate the virtual interactive force between the virtual robot and the virtual objects. Lastly, the experiment is completed with the time delay. The errors are lower (10% F.S.), while virtual interaction force is compared with the real force measured by the force sensor. Experimental results show that this 3D virtual environment modeling method is effective and reliable for space tele-robot control.