Interactive Robot Manipulation Based On Force And Visual Information

With the development of space technology and the deep exploration of space, subjected to the safety and human characters, it is no longer appropriate that astronauts should go out of the space station to operate tasks. Space robotics is the ideal replacement for the position of astronauts. The role of astronauts will become the monitor and controller of robot to perform different tasks. On-orbit servicing with the assistance of robot has become a hot research and development direction.In this paper, telepresence robot control technology based on information fusion of force and visualization is researched. The main research topics are robot dynamics including forward and inverse kinematics of 6-axis industry robot and deriving dynamics equations of the robot using Lagrange method; Kinect collected 3D colorful point cloud acquisition and processing including calibration of the internal and external parameter of Kinect, the relative transformation from Kinect to robot, preprocessing depth image and aligned the depth image and RGB image to create real-time colorful point cloud; force telepresence based on interaction with real-time point cloud including proposing innovate point cloud interaction algorithm based on forbidden virtual fixture and leading virtual fixture and three-layer proxy point and haptic interaction point motion interaction algorithm as well as force feedback;impedance control of robot and simulation in Matlab.In the end, an experiment platform is set based on 6 DOF ABB robot to verify the effectiveness of the algorithm and the telepresence of force and visualization for operator.