Force Feedback For Robotic Teleoperation Based On Virtual Fixtures

Traditional teleoperation technology is difficult to achieve higher security while achieving precise control, virtual fixtures method applications in teleoperation technology, combines human intelligence operations with the precise control of robots, that can respond effectively to new challenges. This paper is written on the basis of former research, using robotic device developed in the laboratory to build a set of floor space robot teleoperation system validation experiments, and researches the virtual fixtures method assisted teleoperation technologies, mainly completed the following tasks:First of all, a robot teleoperation experimental system is built. The independent researched and developed6-DOF force feedback hand controller and8degrees of freedom modular manipulator are used to build the system, and communication is established. The experimental platform is built.Secondly, virtual fixtures method application strategy in teleoperation is researched. A new classification method of virtual fixtures is proposed, and what kind of virtual fixtures should be used in various operational tasks is studied. The specific application strategy of the virtual fixtures method in teleoperation is proposed.Then, the specific method of virtual fixtures assisted teleoperation is studied. The data transfer model of a virtual fixtures in teleoperation is established, and the guidance method of virtual fixtures is studied, which two steps can enhance the accuracy of the teleoperation system in the trajectory tracking; While force feedback and virtual fixtures methods are combined to enhance the security of teleoperation system in avoidance.Finally, the virtual fixtures assisted teleoperation ground verification experiment is completed. The method of virtual fixtures assisted teleoperation is applied on experimental platform. After analysising the results of the simulation and the experimental, the improvement of control accuracy and operational security is achieved by using virtual fixtures method in teleoperation.