Master-slave teleoperation robot system based on force mixed reality

A master-slave teleoperation robot system based on force mixed reality, comprising a master robot and a slave robot, wherein the master robot is connected with a mixed reality device, which is used to receive point cloud information of a real environment and produce a virtual environment based on the point cloud information in the mixed reality device;

• an end of the slave robot is equipped with a depth camera, the depth camera is used to collect the point cloud information and send the point cloud information to the mixed reality device in real time, the point cloud information is also used to produce a virtual fixture, the virtual fixture is used to produce a virtual force which is applied to the slave robot, the virtual force comprises a guiding force and a prohibiting force, the virtual force interacts with an actual environment interaction force at a slave side to guide and norm an operator's behavior at a master side;
• wherein the mixed reality device projects a digital twin of the slave robot to a position coinciding with the master robot, and motions of the slave robot and the master robot are synchronized such that joint angles of the digital twin and the master robot are synchronized, thereby eliminating incorrect occlusion relationships between the master robot and the virtual environment projected in the mixed reality device.