Research On Tele-operation Technology Based On Force Presence

Tele-operation system can enlarge human's abilities of apperception and operation, so it can do certain jobs replacing people to finish some dangerous, abominable or excessive jobs. Tele-operation technology can be used in many fields of our life, especially in space fight. Force feedback technology can improve the efficiency and security of the whole tele-operation system .It plays an important role in the whole system.This paper mainly researches the tele-operation technology based on force presence. Force presence technology and virtual-reality-based force tele-operation control technology have been deeply analyzed and researched.In order to improve the haptic sense based on virtual reality, this paper establishes a virtual hand's kinematical model, which effectively uses cyber glove to collect human'hand date and controls dexterous hand. A novel method—virtual force extrapolation based on real material is suggested to deal with the problem that force feedback needs high refresh rates. Meanwhile, we implement force feedback based on force sensor and explain two key issues—simplified robot inverse kinematics and force strengthening on dexterous hand'finger.Haptic tele-operation system based on virtual reality can solute the problem of time delay in tele-operation. But modeling error in virtual environment will make the whole system instability. By using"optimal approach velocity", this paper designs a haptic tele-operation system that is robust with respect to tolerances in the model errors.Haptic tele-operation based on virtual reality refers to a lot of virtual reality devices .So this paper introduces some important devices and their interfaces are programmed.At last, experimental results prove the effeteness of virtual force extrapolation based on real material and haptic tele-operation based on virtual reality...