TY - GEN
T1 - Virtual force guided control method for teleoperated manipulator system over internet
AU - Shi, Pu
AU - Zhao, Yiwen
AU - Hua, Jianning
AU - Cui, Yujie
PY - 2010
Y1 - 2010
N2 - Telepresence is a critical problem in robotic teleoperation systems. For the sake of collision avoidance between the end-effecter and the object, the human operator has to make close observations on the visual information. This overloads the visual sense of the human operator. On the other hand, there are some potential obstacles in gathering vision information. As a result, the advance notice of collision might be missed or neglected. In order to settle this issue, a virtual force guided control method for robotic teleoperation system is proposed in this paper. This approach combines position-force command strategy and virtual force feedback to perform proper operations, where the virtual force is generated by transforming visual information into reflective force. This control approach improves the operability of teleoperation system and enhances the effectiveness. Experiments are conducted and demonstrate the effectiveness of the virtual force guided control method.
AB - Telepresence is a critical problem in robotic teleoperation systems. For the sake of collision avoidance between the end-effecter and the object, the human operator has to make close observations on the visual information. This overloads the visual sense of the human operator. On the other hand, there are some potential obstacles in gathering vision information. As a result, the advance notice of collision might be missed or neglected. In order to settle this issue, a virtual force guided control method for robotic teleoperation system is proposed in this paper. This approach combines position-force command strategy and virtual force feedback to perform proper operations, where the virtual force is generated by transforming visual information into reflective force. This control approach improves the operability of teleoperation system and enhances the effectiveness. Experiments are conducted and demonstrate the effectiveness of the virtual force guided control method.
UR - http://www.scopus.com/inward/record.url?scp=77957879987&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77957879987&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2010.5524202
DO - 10.1109/ICCA.2010.5524202
M3 - Conference contribution
AN - SCOPUS:77957879987
SN - 9781424451951
T3 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
SP - 1366
EP - 1371
BT - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
T2 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
Y2 - 9 June 2010 through 11 June 2010
ER -