Teleoperation control strategies for collaborative welding system which is targeting at giving full play to human’s superiority is designed and the fitness for teleoperation welding task of which are studied. During ...Teleoperation control strategies for collaborative welding system which is targeting at giving full play to human’s superiority is designed and the fitness for teleoperation welding task of which are studied. During the teleoperation welding process, 6-DOF controller’s signal can be converted into welding torch’s position, velocity or acceleration changing which is being controlled. For welding purposes, control strategies of four modes are designed, which are static position and posture mode, dynamic position and posture mode, velocity mode and acceleration mode. A test and analysis system for testing the tracking accuracy and reliability of control strategy based on virtual reality is developed. The tracking accuracies of the four control strategies are studied in the following tests with straight line trajectory, curve trajectory or space curve trajectory. The results show that the control strategy in dynamic position and posture mode has best stability and strong adaptability which is the most suitable for the teleoperation system.展开更多
A teleoperation system based on predictive simulation is proposed for the sake of compensating the large time delay in the process of teleoperation to a degree and providing a friendly operating interface. The framewo...A teleoperation system based on predictive simulation is proposed for the sake of compensating the large time delay in the process of teleoperation to a degree and providing a friendly operating interface. The framework and function architecture of the system is discussed firstly. Then, the operator interface and a graphics simulation system is described in detail. Furthermore, a predictive algorithm aiming at position control based teleoperation is studied in our research, and the relative framework of predictive simulation is discussed. Finally, the system is applied to spacecraft breakdown maintenance; multi-agent reinforcement learning based semi-autonomous teleoperation is discussed at the same time for safe operation.展开更多
For the virtual environment (VE) to control remote robots through Internet, this paper proposes an operational idea based on virtual guides (VGs). The VGs consist of three types, line VG, plane VG, and body VG, which ...For the virtual environment (VE) to control remote robots through Internet, this paper proposes an operational idea based on virtual guides (VGs). The VGs consist of three types, line VG, plane VG, and body VG, which can greatly enhance the safety and flexibility of the man-machine system. Through the analysis of several common cases, the idea of the VGs are first introduced and described. Second, detailed descriptions of the three VGs are given, and then a uniform representation of all VGs is given. Finally, a typical experiment is designed and implemented according to the modes of video feedback, video&VE feedback, and video&VE&VG feedback. Experimental results show that the operation based on VEs and VGs have significant advantages over that based on video feedback, and VGs can greatly improve the ability of the VE to control remote robots, thus obtaining high and efficient man-machine cooperation.展开更多
This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However,...This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine m...展开更多
Virtual reality is an effective method to eliminate the influence of time delay.However,it depends on the precision of the virtual model.In this paper,we introduce a method that corrects the virtual model on-line to e...Virtual reality is an effective method to eliminate the influence of time delay.However,it depends on the precision of the virtual model.In this paper,we introduce a method that corrects the virtual model on-line to establish a more precise model.The geometric errors of the virtual model were corrected on-line by overlapping the graphics over the images and also by syncretizing the position and force information from the remote.Then the sliding average least squares(SALS)method was adopted to determine the mass,damp,and stiffness of the remote environment and use this information to amend the dynamic model of the environment.Experimental results demonstrate that the on-line correction method we proposed can effectively reduce the impact caused by time delay,and improve the operational performance of the teleoperation system.展开更多
文摘Teleoperation control strategies for collaborative welding system which is targeting at giving full play to human’s superiority is designed and the fitness for teleoperation welding task of which are studied. During the teleoperation welding process, 6-DOF controller’s signal can be converted into welding torch’s position, velocity or acceleration changing which is being controlled. For welding purposes, control strategies of four modes are designed, which are static position and posture mode, dynamic position and posture mode, velocity mode and acceleration mode. A test and analysis system for testing the tracking accuracy and reliability of control strategy based on virtual reality is developed. The tracking accuracies of the four control strategies are studied in the following tests with straight line trajectory, curve trajectory or space curve trajectory. The results show that the control strategy in dynamic position and posture mode has best stability and strong adaptability which is the most suitable for the teleoperation system.
文摘A teleoperation system based on predictive simulation is proposed for the sake of compensating the large time delay in the process of teleoperation to a degree and providing a friendly operating interface. The framework and function architecture of the system is discussed firstly. Then, the operator interface and a graphics simulation system is described in detail. Furthermore, a predictive algorithm aiming at position control based teleoperation is studied in our research, and the relative framework of predictive simulation is discussed. Finally, the system is applied to spacecraft breakdown maintenance; multi-agent reinforcement learning based semi-autonomous teleoperation is discussed at the same time for safe operation.
文摘For the virtual environment (VE) to control remote robots through Internet, this paper proposes an operational idea based on virtual guides (VGs). The VGs consist of three types, line VG, plane VG, and body VG, which can greatly enhance the safety and flexibility of the man-machine system. Through the analysis of several common cases, the idea of the VGs are first introduced and described. Second, detailed descriptions of the three VGs are given, and then a uniform representation of all VGs is given. Finally, a typical experiment is designed and implemented according to the modes of video feedback, video&VE feedback, and video&VE&VG feedback. Experimental results show that the operation based on VEs and VGs have significant advantages over that based on video feedback, and VGs can greatly improve the ability of the VE to control remote robots, thus obtaining high and efficient man-machine cooperation.
基金National Natural Science Foundation of China (60675054)National High-Tech Research and Development Program (2006AA04Z228)"111" Project (B07018)
文摘This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine m...
基金supported by the High-Tech Research and Development Program of China (No.2002AA742048)National Natural Science Foundation of China (Grant No.60475034 and 60643007).
文摘Virtual reality is an effective method to eliminate the influence of time delay.However,it depends on the precision of the virtual model.In this paper,we introduce a method that corrects the virtual model on-line to establish a more precise model.The geometric errors of the virtual model were corrected on-line by overlapping the graphics over the images and also by syncretizing the position and force information from the remote.Then the sliding average least squares(SALS)method was adopted to determine the mass,damp,and stiffness of the remote environment and use this information to amend the dynamic model of the environment.Experimental results demonstrate that the on-line correction method we proposed can effectively reduce the impact caused by time delay,and improve the operational performance of the teleoperation system.
