Network-based Tele-robotic System with Guidance Functionality from Virtual Force
HUA Jianning1, CUI Yujie1, LI Hongyi2, WANG Yuechao2
1. Department of Automation Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, China;
2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
化建宁, 崔玉洁, 李洪谊, 王越超. 具有虚拟力觉导引功能的机器人网络遥操作系统[J]. 机器人, 2010, 32(4): 522-528..
HUA Jianning, CUI Yujie, LI Hongyi, WANG Yuechao. Network-based Tele-robotic System with Guidance Functionality from Virtual Force. ROBOT, 2010, 32(4): 522-528..
Abstract:A virtual force guided control method for network-based tele-robotic systems is presented to obtain force effect before the slave robot contacts with the object to be grasped.Relative posture between the end-effector and the object to be grasped is obtained based on the monocular vision technology,and it is transformed into force feedback information to which operators are more sensitive.The operator can give proper commands to control the slave robot to achieve the desired final posture under the guidance of the virtual force information.A demonstration setup is developed with man-made targets and the camera fixed on the wrist of the robot.Teleoperation experiments are conducted under robot position control mode and attitude control mode respectively,which demonstrate the improvement of operability and efficiency of the tele-robotic system.
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