Abstract: Robots virtual simulation and combined with the remote control show the unique advantages and broad application prospect. This paper designs and implements a robot virtual simulation and remote control system using technology of OpenGL and WinSock. Firstly, the establishment of virtual simulation platform based on C# and OpenGL achieves the motion simulation of robot virtual reality. Secondly, interpreter based on the principle of reflection is proposed to achieve the panel or program remote control. Thirdly, the improved algorithm of collision-free trajectoriesplanning based on velocity vector field can avoid static and dynamic obstacles effectively and security. Finally, the system test results show its correctness and feasibility.

Key words: robotics, virtual simulation, remote control, interpreter, velocity vector field

摘要： 机器人虚拟仿真及其与远程控制相结合，表现出独特的优势，应用前景广阔。应用OpenGL和WinSock技术，设计并实现了机器人虚拟仿真及其远程控制系统。建立基于C#与OpenGL的虚拟仿真平台，实现了机器人虚拟现实的运动仿真；建立基于WinSock的远程控制系统，提出基于反射原理的解释器模式，实现了机器人远程面板或程序控制；提出基于速度向量场的改进无碰轨迹规划算法，有效对静态与动态障碍物安全避障。系统测试结果表明该机器人虚拟仿真及远程控制系统有较好的准确性和稳定性。

关键词: 机器人, 虚拟仿真, 远程控制, 解释器模式, 速度向量场