Augmented reality environment with virtual fixtures for robotic telemanipulation in space
Augmented reality environment with virtual fixtures for robotic telemanipulation in space
复制标题
具有虚拟装置的增强现实环境，用于空间机器人远程操作
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
P. Kazanzides
中科院分区：
文献类型：
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作者：
Tian Xia;S. Léonard;A. Deguet;L. Whitcomb;P. Kazanzides
本文提出了一个增强现实框架，该框架在改进的达芬奇®手术机器人的主控制台上实现，使操作员能够在远程操作期间设计和实施辅助虚拟装置。我们的具体目标是促进具有大时间延迟的远程操作，例如地球轨道上机器人系统的地面控制所发生的几秒钟的延迟。虚拟装置为操作员提供即时视觉反馈和运动指导，而远程从属设备则执行符合这些约束的运动。这种方法适用于非结构化环境中的任务，例如对并非为维修而设计的现有在轨航天器进行维修。我们进行了一项试点研究，通过远程操作远程从属机器人，使用带或不带时间延迟的虚拟夹具来执行热障毯切割任务。结果表明，虚拟夹具减少了完成任务所需的时间，同时还消除了重大的操作错误，例如撕裂毯子。当引入模拟时间延迟（4 秒）时，性能的改进尤其显着。
This paper presents an augmented reality framework, implemented on the master console of a modified da Vinci® surgical robot, that enables the operator to design and implement assistive virtual fixtures during teleoperation. Our specific goal is to facilitate teleoperation with large time delays, such as the delay of several seconds that occurs with ground-based control of robotic systems in earth orbit. The virtual fixtures give immediate visual feedback and motion guidance to the operator, while the remote slave performs motions consistent with those constraints. This approach is suitable for tasks in unstructured environments, such as servicing of existing on-orbit spacecraft that were not designed for servicing. We conducted a pilot study by teleoperating a remote slave robot for a thermal barrier blanket cutting task using virtual fixtures with and without time delay. The results show that virtual fixtures reduce the time required to complete the task while also eliminating significant manipulation errors, such as tearing the blanket. The improvement in performance is especially dramatic when a simulated time delay (4 seconds) is introduced.