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Posture-based virtual force feedback control for teleoperated manipulator system
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
会议录名称Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
出版者IEEE
出版地Piscataway, USA
2010
页码6619-6624
收录类别EI ; CPCI(ISTP)
EI收录号20104313325322
WOS记录号WOS:000295959507066
产权排序2
ISBN号978-1-4244-6712-9
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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10496
专题机器人学研究室
通讯作者Shi P(石璞)
作者单位1.Department of Automation Engineering, Northeastern University, Qinhuangda, Hebei Province, China
2.State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
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Shi P,Hua JN,Zhao YW. Posture-based virtual force feedback control for teleoperated manipulator system[C]. Piscataway, USA:IEEE,2010:6619-6624.
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