提出了一种实现协同装配过程VR的方法，以尽可能高的沉浸度复制装配过程为目标，通过对装配过程的分析，设计了一个特定的VR系统架构。该系统的核心特点是装配过程的物理仿真、机器人控制的集成和操作者的触觉反馈。VR技术的应用使工业装配过程更加安全，并减少了人与机器人之间的障碍。
The collaboration between human and robot is advantageous for complex industrial assembly processes, especially, when the increased flexibility and adaptability become a key feature of production systems. The virtual reality (VR) systems can be used to simulate the cooperative processes, including workers and their individual behavior. The VR simulations make it possible to secure the running of the processes and reduce the physical and mental barriers between human and robot. This paper presents a methodical approach for the implementation of the systems for the virtual testing of the collaborative assembly processes. To replicate the assembly process with the highest possible verisimilitude, a specific VR system is built based on the analysis of the assembly process. The core features of the system are the physical simulation of the assembly process, the integration of the robot control and a haptic feedback for the operator.
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