本文以基于虚拟现实遥操作焊接机械手系统的实现为最终研究目标，探讨了如何将虚拟现实技术连同遥操作技术应用到焊接机械手系统之中。 论文研究了交互式虚拟场景的创建方法，以OpenGL和Qt为开发工具在计算机中构造出一个交互式虚拟作业场景，使操作者可以通过操作杆实时的控制虚拟场景中的机械手模型，受控的机械手模型帮助操作者更加直观地了解机械手在操作过程中的位姿信息。采用D-H法为实物机械手建立了坐标系，建立了齐次变换矩阵，最终推导出机械手正、逆运动学方程。并通过特殊点位置参数的设置，对运动学方程进行了验证。采用图解法描述了机械手工作空间的大小，从而可以直观的看出工作空间的边界，从几何角度描述了机械手的工作能力。研究了下位机实物机械手的控制理论及实现方法，并为系统开发了视频监控的功能。通过图形化界面所搭建的软件平台，给操作者提供了一个人机交互的接口，把系统所具有的功能模块都集成到这个软件平台下，为用户的操作提供了友好的交互环境。 最终，本系统开发出操作人员通过虚拟模型来遥操作实物机械手的功能。同时，机械手可以重复之前由操作人员所示教的动作，实现了示教再现的功能。

The final goal of this paper is to realize the design of manipulator teleoperation system based on virtual reality. This paper discussed how to apply virtual reality technology with teleoperation to welding manipulator system. This paper discussed the method for creating interactive virtual scenes. Constructed an interactive virtual scene in PC by using OpenGL and Qt as the development tools, so that the operator can control the manipulator model in virtual scene by using an operating rod. This enables the operator to know more effectively in manipulator’s posture information.The coordinate system is established by D-H method, the homogeneous transformation matrix is putted, deduced the manipulator kinematics equations. By setting the system parameters, the kinematics equation is verified. Descripted the manipulator workspace by using graphic method. This method can directly see the boundary of the manipulator workspace.Workspace could describe the working ability of the manipulator from the view of geometry.Introduced the control theory and realization method of the real manipulator, and introduced the realization process and functions of video monitoring, by using the graphical interface of the software platform, provides an interactive interface to the operator, the function module of the system are integrated into this software platform, so that provides friendly interactive environment to the operator's operation. Finally, the system developed that operator through the virtual manipulator to teleoperate physical manipulator function. Moreover,if the operator first complete a series of actions, the system will automatically record the path information, then realized the teaching and playback function.