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题名: Posture-based virtual force feedback control for teleoperated manipulator system
作者: Shi P(石璞) ; Hua JN(化建宁) ; Zhao YW(赵忆文)
作者部门: 机器人学研究室
会议名称: 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
会议日期: July 7-9, 2010
会议地点: Jinan, China
会议录: Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
会议录出版者: IEEE
会议录出版地: Piscataway, USA
出版日期: 2010
页码: 6619-6624
收录类别: CPCI(ISTP) ; EI
ISBN号: 9781424467129
关键词: Feedback control ; Intelligent control ; Manipulators ; Remote control ; Robot programming ; Visual communication
摘要: Operability/transpancy is of vital importance in telerobotic systems. For fear of collision between the end-effecter and the objects, human operator must make strict observation on the visual image and carefully plan small pieces of motion of the robot at a time. This makes operability worse. Good force telepresence can reduce the workload of human operator, overcome the limitation of vision information, and improve the operability performance of teleoperation system. In this paper, we describe a novel virtual force feedback control approach to enhance force telepresence and then make operability better. Based on accurate measurement of relative posture with a monocular vision, we first perform camera calibration to detect the relationship between pixel points in the image and points in the real object. Secondly, with the information transformation technique, the virtual reflective force is generated. Finally, virtual force feedback is used to improve the performance of operability. Experiments are made to demonstrate the effectiveness of posture-based virtual force feedback guided control method in telerobotic system. © 2010 IEEE.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10496
Appears in Collections:机器人学研究室_会议论文

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