Research of the Dynamic Model in Virtual Reality Force Sense Telepresence System

In this paper, the composing of virtual reality technology in force telepresence teleoperation system is introduced. It discusses that virtual reality is one of the best ways to resolve the timedelay and that the key is to build the exact dynamic model of environment. It is presented that the model has different forms just according to different working sections. The idea of environment equivalent resistance having nonlinearity and timevarying characteristic is further researched. The human operator, master and slave manipulator dynamic models are also put forward. Important foundation is provided by this discussion in the paper for the stability analysis, system design, control arithmetic in virtual reality force teleprensent system.