具有虚拟力觉导引功能的机器人网络遥操作系统

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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..

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摘要为实现机器人网络遥操作系统中从端机器人和被抓取目标接触前的力觉感知效果，提出了具有虚拟力觉导引功能的机器人网络遥操作系统控制方法．利用单目视觉技术获得末端执行器相对于被抓取目标的位姿信息，并将此信息转换为操作者相对敏感的力反馈信息，引导操作者为远端机器人系统提供合适的控制命令，控制机器人达到期望的位姿．利用手腕相机和人工目标搭建了演示实验系统，并分别进行了机器人位置和姿态遥操作控制实验．实验结果表明，机器人遥操作系统的可操作性和操作效率有了明显提高．

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关键词 ：虚拟力反馈, 单目视觉, 遥操作

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.

Key words： virtual force feedback monocular vision teleoperation

收稿日期: 2009-09-29 录用日期: 2010-04-30

ZTFLH:

TP24

基金资助:国家自然科学基金资助项目（60334010，60705021）

通讯作者: 化建宁 E-mail: huajianning@gmail.com

作者简介: 化建宁（1975- ），男，博士，讲师．研究领域:机器人控制，机器人遥操作．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I4/522

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