Research On Virtual Reality Of Virtual Force Guidance For Telerobotic System

The working site environment is too far to be perceived in the telerobotic system,the operator has to complete the task with the help of the information such as image,voice, force/kinesthetic, etc feedback by. Be restricted in the development of controland sensing, there are several problems: firstly, it depends too much on highly skilledoperator to comply the task well and efficiently; secondly, the time dely is inevitablewhen the video is transmitted from the working filed far way, while the traditional"Mobile-Wait" strategy reduces the operating efficiency of the systemt significantly;thirdly, the operator could not perceive the depth information and could not grasp thedistance between robot and the object directly with the VR, which will cause aninefficient unavoidable; furthermore, the contact force detected from sensors onlyexists when the robot collides with environment. Under certain conditions, especiallyin a high-speed or heavy-load robot system, an instant contact between environmentand robot could result in serious consequences.Combined with the National Natural Science Foundation of China (NSFC)(No.51305153) Research on shared control strategies for robot system based onkinesthetic and force guiding method, and the Key Scientific Research Projects ofJilin Province (No.20130206034GX) Kinesthetic guiding shared control for robotsystem, in this paper, a new virtual reality of virtual force guidance for teleroboticsystem is presented. The3D virtual simulation environment mainly included thereal-time reconstruction of the obstacles, objectives and the robot; the virtual forces,including the attraction force from objectives，and the rejection force from obstacles,which are generated from the recognition results of working fields, are transmitted tooperator by the joysticks; with assisted of the virtual reality and virtual force, these hints could guide the operator to control the robot approaching target quickly andavoiding obstacles automatically. The kinesthesis and force guiding control strategycombines the advantages of machine intelligence with human’s high-level decision,which could improve effectively the working efficiency as well as local autonomy oftele-robot, and reduce the proficiency requirements of operator. Especially, in ateleoperation system with large time delay, the method could avoid the blindedmanipulation of robot caused by the lagging transmission of image.The main tasks completed by this paper are as follows:1. Based on binocular stereo vision, the objectives and obstacles aredistinguished and extracted from the working environment, due to thatcomplete the reconstruct the3D shape;2. Based on the potential field theory, the attraction force from objectives，andthe rejection force from obstacles are constructed, they are merged as guideforce by proper proportion;3. Based on dynamics of the joysticks, complete the transmitted of the virtualguide force;4. Designed the control program and the experiments, the superiority of thiscontrol strategy in improving the operating efficiency and security of thetelerobotic system were verified.