Virtual reality based teleoperation which tolerates geometrical modeling errors
Virtual reality based teleoperation which tolerates geometrical modeling errors
复制标题
基于虚拟现实的远程操作，可容忍几何建模错误
DOI：
10.1109/iros.1996.568946
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
M. Uchiyama
中科院分区：
文献类型：
--
作者：
Y. Tsumaki;Yuichiro Hoshi;H. Naruse;M. Uchiyama
众所周知，具有时滞的遥操作会使力反馈控制变得不稳定。因此，双边控制不能用于具有时间延迟的空间遥操作等应用。然而，力反馈信息对于执行接触任务的操作者来说非常重要。近年来，虚拟现实技术的引入支持了基于力反馈的长时延遥操作。即使有很长的时间延迟，操作者也能感受到在虚拟世界中产生的力。然而，基于虚拟现实的遥操作容易在现实世界和虚拟世界之间产生建模误差。本文提出了一种速度级指令与从臂一定自主性相结合的远程操作系统。实验结果表明，该系统对几何模型中的公差具有较强的鲁棒性，并且通过虚拟环境的反馈回路，操作者始终能感受到稳定的力。
It is well known that teleoperation with time delay causes force feedback control to become unstable. Therefore, bilateral control could not be used in such applications as space teleoperation with time delay. Force feedback information is, however, very important for the operator when performing contact tasks. Recently, virtual reality has been introduced to support force feedback based teleoperation with long time delay. The operator can feel the forces which are generated in the virtual world, even if there is long time delay. Unfortunately, virtual reality based teleoperation is prone to modeling errors between the real world and the virtual world. In this paper we propose such a teleoperation system which combines velocity-level commands with certain slave arm autonomy. The experimental results show that our system is robust with respect to tolerances in the geometrical model, and also, through the feedback loop from the virtual environment the operator can always feel a stable force.