力觉临场感机器人基于在线修正虚拟模型的远程控制

Force-reflecting teleoperation of robot based on on-line correction of virtual model

虚拟建模技术是克服遥操作时延问题的有力手段,但是这种方式依赖于虚拟模型建立的精度.为了获得准确的虚拟模型,提出了一种在线修正虚拟模型的方法,通过对虚拟模型几何误差和动力学误差的在线修正,从而获得准确的交互信息.首先采用图形图像的叠加及远地位置和力信息的融合技术来修正远地环境的几何模型,同时采用滑动平均最小二乘法(SALS)来实时辨识远地工作环境的质量、阻尼和刚度,建立和修正远地环境的动力学模型.实验结果表明,通过以上方法在线修正的远地虚拟环境模型可以有效地消除时延带来的影响,提高系统的可操作性.

Virtual reality is an effective method to eliminate the influence of time-delay. Although this method can solve the time delay problem, it depends on the precision of the virtual model. In this article a method is brought forward that corrects the virtual model on-line to establish a more precise model. The geometric errors of the virtual model are amended on-line by overlapping the graphics over the images and also by syncretizing the position and force information from the remote. The sliding average least square （SALS） method is adopted to make out the mass, damp and stiffness of the remote environment and amend the dynamic model of the environment. Experimental results demonstrate that the on-line correct method proposed can effectually reduce the impact caused by time delay, and improve the operational performance of the teleoperation system.