The Teleoperation Simulation System Based on VR

Because of the instability and the complexity of the communication between the ground and the space, the teleoperation system faces many problems which can lead to operation failure. In order to enhance the success probability and reduce the unnecessary cost, the predication simulation system based on virtual reality is developed in this paper. The teleoperation command could be done in the system to predict the operating result. The teleoperation command will not be delivered to the real scene except the prediction gets the expected result. And the prediction result could be used to direct the next operation. This paper describes the methods to establish the teleoperation simulation system, and the measures taken to ensure the VR fidelity. The entire system is composed of a virtual scene and a real scene. The teleoperation words on both the real scene and the virtual scene. The teleoperation result in the virtual scene could be used to direct the next operation. A specific algorithm is developed to simulate the time delay between the space and the ground. In the prediction system, timestamp is used to correct the VR scene, special collision detection algorithm is developed to meet the special application environment. A lot of experiments have been done show that the system described in this paper works efficiently and precisely, and be useful to avoid the time delay problem between the space and the ground.