e拟力觉导引功能机器人网络遥操作系统.pdf

32 4 ROBOT Vol.32, No.4 2010 7 Jul., 2010 DOI 10.3724/SP.J.1218.2010.00522 1 1 2 2 2 1. 066004 2. 110016 TP24 B 1002-0446(2010)-04-0522-07 Network-based Tele-robotic System with Guidance Functionality from Virtual Force HUA Jianning1 CUI Yujie1 LI Hongyi2 WANG Yuechao2 XI Ning2 (1. Department of Automation Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, China; 2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China) 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. Keywords: virtual force feedback; monocular vision; teleoperation 1 Introduction 2