Predictive Simulation Teleoperation System Based on Virtual Reality

Teleoperation system based on predictive simulation is proposed for the sake of compensating the large timedelay in the process of teleoperation in a degree and providing friendly operating interface.The framework and function structure of the system is discussed firstly.And then,operator interface and graphics simulation system is described in detail.Further more,predictive algorithm aiming at position control based on teleoperation is studied,and relative framework of predictive simulation is discussed.Finally,the system is applied to satellite breakdown maintenance.Tasks such as solar panel deploying and antenna hauling were completed successfully under the condition of man-made 6 seconds single round time delay.