Force reflection algorithms for networked bilateral teleoperators and haptic interfaces

用于网络双边远程操作员和触觉界面的力反射算法

• 批准号: 386717-2010
• 负责人: Polouchine, Ilia
• 金额: $ 2.04万
• 依托单位: University of Western Ontario
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2014
• 资助国家: 加拿大
• 起止时间: 2014-01-01 至 2015-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=550569
• 关键词: Force; reflection; algorithms; networked; bilateral

Force-reflecting teleoperation and haptic interaction with objects in virtual environment are two related areas of technology which have numerous applications to manufacturing, robotic surgery, health care and rehabilitation, education, search and rescue robotics, and other areas. The proposed project aims at development of new schemes for networked force-reflecting teleoperators and haptic displays that are built upon the principle of projection-based force reflection. This principle assumes decomposition of the force reflection term into ``interaction'' and ``momentum-generating'' components and subsequent attenuation of the latter. It was previously demonstrated that application of this principle to the design of force-reflecting teleoperators in the presence of network-induced communication constraints leads to substantial improvement in stability and performance characteristics. The long-term objective of this project can be defined as comprehensive development of the principle of projection-based force reflection and its application to the design of networked force-reflecting teleoperators and haptic interfaces. More specific goals will include elaboration and justification of the projection-based force reflection principle, development of new projection-based force reflection algorithms, their experimental evaluation and comparison, and applications to the design of new schemes and algorithms for cooperative force-reflecting teleoperation over networks and for haptic interaction with objects in virtual environments.

力反射遥操作和触觉交互与虚拟环境中的对象是两个相关的技术领域，其在制造、机器人手术、医疗保健和康复、教育、搜索和救援机器人技术以及其他领域中具有众多应用。拟议的项目旨在开发新的计划，网络的力反射遥控器和触觉显示器，是建立在基于投影的力反射的原则。这一原理假定力反射项分解为"相互作用“和"动量产生”两个分量，并随后衰减后者。它是以前证明，应用这一原则的设计力反映遥操作机器人在网络引起的通信约束的存在下，导致稳定性和性能特性的大幅改善。 该项目的长期目标可以定义为基于投影的力反射原理的全面发展及其在网络化力反射遥操作机器人和触觉接口设计中的应用。更具体的目标将包括详细说明和理由的投影为基础的力反射原理，开发新的基于投影的力反射算法，他们的实验评估和比较，以及应用程序的设计新的计划和算法的合作力反射遥操作网络和触觉交互与虚拟环境中的对象。