Research on Virtual Reality Monitoring Technology of Tele-operation Welding Robot

In order to replace human to carry out welding tasks in hazardous environment such as underwater, space, nuclear plant, and underground, a tele-operation welding robot system based on virtual reality technology was constructed, which is comprised of slave robot and master virtual working environment. Various aspects of the tele-operation welding robot were discussed, such as robot construction, 3D model building and application in Unity, network communication between the virtual robot and the physical robot, and tele-operation welding test trial. The working environment created by VR technology helps the operator to control the slave robot and conveniently view 3D models of the slave robot and the welding equipment. Welding parameters including welding current, voltage, and arc also can be collected and shown in the master side. The 3D virtual master robot can accurately catch dynamical position of the physical slave robot in real time, and notify operator on the screen when collision between welding gun and workpiece occurs.