Geometric and Kinematics Modeling of Tele-operated Virtual Construction Robot

The tele-operated virtual construction robot is an important part of the tele-operated construction robot system based on virtual reality. To improve the realness of the virtual construction robot and reduce the difficulty of development, the hybrid modeling method of combining OpenGL function modeling with Solidworks software modeling, along with the Denavit-Hartenberg (D-H) method were investigated and applied to the geometric and kinematics modeling of the virtual construction robot. The simulation experimental results demonstrated that the motions of virtual construction robot and real construction robot are consistent, and the position and attitude of the mechanical gripper fingertips of both are the same and are consistent with the theoretical results. The modeling method is feasible and effective, which can provide some references to the construction robot modeling with similar structure.