Research Of Tele-operation Technology Based On Force Modification

Tele-operation has become an extension of human wisdom, it complete the operation inhazardous environments instead of human beings,widely used in aerospace and several otherfields. Force feedback is one of the key technologies in remote control system, it improves theefficiency, security and reliability of tele-operation.The purpose of this thesis is to study and implement the force feedback technology intele-operation system, and give a main analysis and research in virtual force generation andmodel error correction.A virtual reality-based feedback force is got in this thesis. A geometric model and adynamics model based on springs, proton and damp is established, also the displacement ofthe tip of virtual finger is calculated in this thesis to get the information of collision instead ofusual method of collision-detecting which is done basing on face-set, also make thecalculation of virtual force and the update of three-dimensional scene in two separate modules,which ensures the virtual interaction force feedback in high frequency. To get a stable andsmooth force, the discrete energy method is also used in the system.The error of the virtual model was modified. Although virtual reality-based forcefeedback can effectively solve the problem of data delay issues in time-delay tele-operation,but the error of virtual scene model will still give a very big impact on the accuracy of theinformation back to operator. So the virtual model error was analyzed, and the factors aboutwhy the virtual force calculation is not accurate were discussed, then this thesis proposed themethod of data correction to amend the geometric modeling error, and slide least-squaresmethod based on QR decomposition to identify parameters in the dynamic model online,which improve the accuracy of the virtual force.Finally, the experimental results of Matlab was showed which given the result that theforce generation algorithm, parameter identification algorithms and force renderingalgorithms is effective, also a verification platform of tele-operation based on force feedbackwas established, which given a online verification of the method of force feedback presents inthis thesis, and a fast, accurate and stable feedback force was finally got.