Research On Telerobotic System With Force And Visual Presence

Teleoperation system with master-slave robot at the core can be complex manipulated in uncertain or extreme environment (such as space, seabed, radialization, battlefield, etc.). The quality of operation is correlation with the ability of getting information (such as force, vision, etc.) about the slave side. The dynamic reciprocity between robot and operated object can be felt by teleoperation system on account of the force telepresence and video telepresence, which make the operator accomplish complicated and exact operation. Nowadays the research of technology related with telepresence is gaining greater attention.The theory of construction telerobotic system with telepresence is that telerobot working on spot is controlled by an operator with force feedback manual controller device at safe location. In the telerobot, There are video system and sensors used to measure the hardness of the grabbed object and the resistance. Moreover, the image of on spot is transmitted to the screen in front of the operator by wireless communication system. In the meantime, the hardness of the grabbed object and the resistance in working can be judged by the feedback force of the master manipulator. Compared with operating with the prompt by image only, the working efficiency is improved greatly by such working of the prompt of highly telepresence. If used in rescue, this system will take less time.In this paper, we have set up a telerobot system with force telepresence and video telepresence on basis of analysing telerobot system with telepresence in home and abroad. The system mainly comprises manual controller with force feedback, 4DOF construction robot, electron hydraulic servo subsystem, bilateral servo control subsystem including position servo subsystem and force telepresence subsystem, video telepresence subsystem, wireless communication subsystem as well as all kinds of pressure and...