The research on the force-reflecting teleoperation system based on virtual reality

Virtual reality is an effective method to solve the time-delay problem in force-reflecting teleoperation, but it depends on the accuracy of the virtual model. So we consider the online error compensate of the predictive virtual model, for acquiring accurate interaction information. Firstly, the sliding average least square (SALS) method is adopted to identify the mass, damp and stiffness of the remote environment, in order to build and amend the virtual environment dynamic model in real time. Secondly, we consider the predictive virtual model as a time forward observer, and design our error compensate observer. Through constructing the dynamics equation of the system, we also analyzed the condition of stability and transparency. Experimental results are shown that these methods can reduce the influence of time delay with guarantee of stability, and promote the operability of the system.