Abstract：A virtual environment-based multi-operator multi-robot cooperative teleoperation system is proposed,and the software framework of control system with three layered C/S(client/server) structure is adopted.The model of distributed virtual environment is built according to work scene of the experimental platform for accomplishing distributed control of multiple robots by multiple operators.Based on the structure of multi-operator multi-robot teleoperation system,a method based on local lag is presented to realize consistency control in distributed virtual environment,and the problems of clock synchronization,lag time and state repairing in teleoperation system are overcome.Finally,multi-robot cooperative control experiment including different types of cooperation is conducted on the proposed platform,and interaction between the operator and virtual environment is achieved.The operator interacts with virtual environment,observes the task environment and controls the robots in real time with the aid of real-time multi-video image feedback and force feedback,and completes the given task safely and efficiently,which verifies the reasonability and feasibility of the system.
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