Research On Human-Robot Interaction Of The Teleoperation For Manipulator

The reseach of modern manipulator research began from the 1940s. As a kind of mechanical device simulated human arms, it provides us a method of interacting with the environment remotely. In recent years, with the increasing requirement in the field of public safety and space technology. The research on the technology about human-robot interaction of the teleoperation for manipulator has been widely noted.Firstly, the general research and development situation are summarized in this thesis. The problems existing in the current robot and analyzed in this thesis is long distance between the operator and the manipulator and long time delay, as well multi-DOF manipulator cause difficult to be controlled. Secondly, to solve these problems, the system on human-robot interaction of the teleoperation for manipulator is designed in detail. Besides, design philosophy and methods is elaborated from the hardware systems and software systems in this thesis, in addition, a large number of experiments were done and the results show that the effect of the system is perfect.In the end, the system designed in this thesis need the interaction not only between operators and manipulators, but also between operators and the remote circumstances of manipulators, and the image processing is the most effective way. So a method of image algorithm based on different perspective is proposed in this thesis, according to the position of the objects in a number of different perspectives camera images. The image processing system calculate the location of the target objects in the work space. In the end, experiments were done to verify the method is correct.