A Predictive Display With Force Feedback And Its Application To Remote Manipulation System With Transmission Time Delay
A Predictive Display With Force Feedback And Its Application To Remote Manipulation System With Transmission Time Delay
复制标题
力反馈预测显示及其在传输时滞遥控系统中的应用
DOI：
10.1109/iros.1992.587326
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发表时间：
1992
期刊：
影响因子：
--
通讯作者：
T. Kotoku
中科院分区：
文献类型：
--
作者：
T. Kotoku
本文讨论了力反馈预测显示系统的设计及其在具有传输时延的遥控操作系统中的应用。在遥操作机器人领域，人们已经发现，操作员的性能是通过获得具有高保真度的远程环境的信息的能力来增强的。然而，传输时延是空间遥操作机器人中最关键的问题之一。将力数据连续地反馈到操作者的手上是不实际的，因为延迟的反馈可能导致不稳定。为了提高机器人的可操作性，需要一种无延时、精确地将环境信息呈现给操作者的系统。本文提出了一种在模型世界中虚拟生成约束力的方法。作为第一步，构建了一个简单的机器人及其环境模型。假设环境模型由多个表面无摩擦的多面体物体组成，从机器人为点物体。假定物体表面存在弹簧效应，约束力产生在垂直于表面的方向上，其大小与穿透量成正比。实现了一个具有力产生功能的预测显示遥控操作系统。通过实验验证了该方法的有效性。
This paper discusses the design of a predictive display system with force feedback and its application to a remote manipulation system with transmission time delay. In the field of telerobotics, it has been found that an operator's performance is enhanced by the ability to obtain the information of remote environment with high fidelity. However, the transmission time delay produces one of the most crucial problems in space telerobotics. It is not practical to feed back force data continuously to the operator's hands because the delayed feedback may cause instability. In order to improve the manipulability, a system that presents the information of environments pre- cisely to the operator without time delay is re- quired. In this paper, a method for virtual genera- tion of the constraining forces in the model world is proposed. As a first step, a simple robot and its environment model are constructed. It is assumed that the environment model consists of several polyhedral objects without friction on the surface and that the slave robot is a point object. The spring effects are assumed at the surface of the ob- jects and then the constraining forces are produced in the direction normal to the surface, and those magnitudes are in proportion to the amount of the penetrations. A predictive display remote manipu- lation system with a force generation function is implemented. Some experiments were performed to confirm the effectiveness of the proposed method.