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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)
Department机器人学研究室
Conference Name2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Conference DateJuly 7-9, 2010
Conference PlaceJinan, China
Source PublicationProceedings of the World Congress on Intelligent Control and Automation (WCICA)
PublisherIEEE
Publication PlacePiscataway, USA
2010
Pages6619-6624
Indexed ByEI ; CPCI(ISTP)
EI Accession number20104313325322
WOS IDWOS:000295959507066
Contribution Rank2
ISBN978-1-4244-6712-9
KeywordFeedback Control Intelligent Control Manipulators Remote Control Robot Programming Visual Communication
AbstractOperability/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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10496
Collection机器人学研究室
Corresponding AuthorShi P(石璞)
Affiliation1.Department of Automation Engineering, Northeastern University, Qinhuangda, Hebei Province, China
2.State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
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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