Preliminary study of virtual nonholonomic constraints for time-delayed teleoperation
Preliminary study of virtual nonholonomic constraints for time-delayed teleoperation
复制标题
时滞遥操作虚拟非完整约束的初步研究
DOI：
10.1109/iros.2015.7353978
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
L. Whitcomb
中科院分区：
文献类型：
--
作者：
Steve Vozar;Zihan Chen;P. Kazanzides;L. Whitcomb
主设备和从设备之间通过多秒延时遥测进行直接远程操作对于人类来说是一项挑战。当控制多自由度的完整机器人时，操作员可能会无意中向预期方向发出命令，而不会意识到自己的错误，直到几秒钟后收到反馈。对于某些应用，对末端执行器的运动施加虚拟非完整约束 (VNHC) 可以通过减少可控自由度的数量来帮助防止操作员向非预期方向移动。本文介绍了由在轨远程机器人卫星服务操作推动的用于平面延时远程机器人任务的 VNHC 的开发。我们还描述了一种附着在 VNHC 上的非完整虚拟夹具 (NHVF)，以进一步减少操作员输入错误命令的可能性。我们报告了一项试点研究的结果，其中发现使用 VNHC 进行远程操作的任务性能与完整平面远程操作相当，同时减少了操作员的工作量。尽管用户反馈表明以不同方式实现的虚拟装置和控制器可能会提高性能，但我们发现 NHVF 会略微降低性能。
Direct teleoperation with multisecond time-delayed telemetry between master and slave is challenging for humans to perform. When controlling a holonomic robot with many degrees of freedom, operators may incidentally provide commands in an intended direction without realizing their mistake until receiving feedback several seconds later. For some applications, imposing a virtual nonholonomic constraint (VNHC) on the motion of the end effector can help prevent operators from moving in an unintended direction by reducing the number of controllable degrees of freedom. This paper presents the development of a VNHC for a planar time-delayed telerobotic task, motivated by an on-orbit telerobotic satellite servicing operation. We also describe a nonholonomic virtual fixture (NHVF) that adheres to the VNHC to further reduce the potential for operators to input mistaken commands. We report the results of a pilot study in which teleoperation with a VNHC was found to have comparable task performance to holonomic planar teleoperation, while decreasing operator workload. The NHVF was found to decrease performance slightly, though user feedback indicated that a differently implemented virtual fixture and controller may improve performance.