Simulation system of space teleoperation based on dexterous robot hands

Aiming at the large time delay in the space teleoperation, teleoperation system based on dexterous robot hands was proposed adopting 3D graphic predictive simulation. Operator controlled the simulating dexterous robot hand directly in the virtual scene using data glove. The simulating robot hand responded the import injunction immediately with no time delay and the movement of real robot hand in long distance is the reappearance of the simulating robot hand so that the operation for the operator could avoid the influence of the large time delay. The framework of the system was discussed firstly. Environment modeling was proposed including modeling of 3D entities and kinematics secondly. The key problem which is the kinetic mapping from human hand to robot hand was especially concerned. The model of the large time delay was simulated in mathematics. Finally, the system was verified through simulation.