Posture-based virtual force feedback control for teleoperated manipulator system
文献类型：会议论文
| 作者 | Shi P(石璞); Hua JN(化建宁); Zhao YW(赵忆文)
|
| 出版日期 | 2010 |
| 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 |
| 关键词 | Feedback control Intelligent control Manipulators Remote control Robot programming Visual communication |
| 页码 | 6619-6624 |
| 通讯作者 | 石璞 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 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 |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-6712-9 |
| WOS记录号 | WOS:000295959507066 |
| 源URL | [http://ir.sia.cn/handle/173321/10496]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Shi P,Hua JN,Zhao YW. Posture-based virtual force feedback control for teleoperated manipulator system[C]. 见:2010 8th World Congress on Intelligent Control and Automation, WCICA 2010. Jinan, China. July 7-9, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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