Dual-virtual model overlapping display method for teleoperation control

In order to improve the precision and efficiency of teleoperation real-time task, a new method, dual-virtual model overlapping display teleoperation control system is proposed. The accurate and efficient control of remote robot can be realized by controlling the virtual operation model and virtual feedback model overlapping displayed in the same display window. For the control variables for virtual feedback model are real-time feedback information of joint motion sensors, which is small data package with little time delay, and the motion cumulative error caused by time delay can be compensated with model angle compensation method, the waiting time during the task can be shortened and the efficiency can be improved. In addition, the system can switch control model, correct model data and display force through color changing according to different task requirements. Experiments show the efficiency and feasibility of this method.