Research On a Training Simulator For Teleoperated Mobile Robot

Various training simulator based on Virtual Reality has already been used widely. A training system for teleoperated track-leg mobile robot that can run on a PC is discussed in this paper. A trainee can operate the simulator to improve his skill in controlling the real robot through an efficient human-computer interface. In our system, realistic geometric models of teleoperated track-leg mobile robot and its working environment are constructed. And a simplified kinematics and dynamics model of the robot is set up in order to make the system run smoothly on a common PC. With the help of friendly human-computer interface and kindly alarm of wrong operation, the trainee can improve his skill with no awareness. The feasibility and effectiveness of setting up a training simulator using virtual reality technology is proved by the experiment at the end of this paper