Research On Shared Control Method Of Virtual Guide Oriented To Teleoperation

Using teleoperation robot instead of human in space, deep sea, toxic environment and nuclear radiation not only the operators can avoid harm in harsh environment, but also can reduce operating costs, make improvement in operation efficiency. Due to changeable operation environment, complex and dynamic operational tasks and the restriction of the key supporting techniques such as sensor technology, computer and information science and artifical intelligence, the development of high intelligent and completely autonomous robot is very hard to achieve. At present time the proper solution is the combination of part autonomy and network teleoperation of the robots to realize the integration of artificial intelligence , named shared control, which use human intelligence to complete operational task planning. In this dissertation , a human-teleoperation robot shared control system based on virtual environment has been established, not only solving problem of time delay with teleoperation robot system, but also with the help of force feedback induced by virtual fixture achieving combination of human control and autonomous decision of teleoperation robot system.A human-teleoperation robot interactive system based on virtual environment platform was established. With overall frame structure of virtual environment constructed and basic classes of virtual scene constructed by object-oriented language Java/Java3D , virtual environment model was established. Utilized JNI(Java Native Interface) method to develop an interactive software interface between haptic master device and virtual environment and operators can manipulate joints of mobile robot with manipulating master device, achieved local human-teleoperation interactive control.Mobile teleoperation robot/virtual guide system model has been established. Modeling includes two sides: the geometric model and kinematics model. In the geometry model, this paper has used Pro/E modeling, used Java/Java3D's objectLoder interface for introduction and assembling the model. For the kinematics model , this paper has analyzed forward and inverse kinematics model of robot and relative kinematics model for teleoperation robot/virtual guide system. Kinematics model has analyzed interactive state between teleoperation robot and virtual guide in detail and constructs the basis of force feedback.According to interactions and position and posture's deviation between robot end-effector and virtual guide, computational algorithm modeled as spring of force feedback based on position control , posture control and moving of vehicle control(including path virtual fixture and obstacle avoidance)respectively was proposed. Developed a dynamic model of virtual guide force feedback system based on two-port network and used MATLAB Simulink to simulate. The results showed that the system maintained ensuring its stability while improving transparency in time delay. Operators could achieve force tracing and position tracing effectively and obtain steady force feedback.Finally, virtual fixture was applied to simulation experiments of teleoperation and analysis of test data during experiments proved the effectiveness of virtual guide.