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Titolo:
VR-based teleoperation for robot compliance control
Autore:
Kuan, CP; Young, KY;
Indirizzi:
Natl Chiao Tung Univ, Dept Elect & Control Engn, Hsinchu, Taiwan Natl Chiao Tung Univ Hsinchu Taiwan ect & Control Engn, Hsinchu, Taiwan
Titolo Testata:
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
fascicolo: 4, volume: 30, anno: 2001,
pagine: 377 - 398
SICI:
0921-0296(2001)30:4<377:VTFRCC>2.0.ZU;2-K
Fonte:
ISI
Lingua:
ENG
Soggetto:
VIRTUAL ENVIRONMENT; FORCE CONTROL; TIME-DELAY; MANIPULATORS; INTERFACE; TASKS; FEEL;
Keywords:
teleoperation; robot compliance control; virtual reality;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
33
Recensione:
Indirizzi per estratti:
Indirizzo: Kuan, CP Natl Chiao Tung Univ, Dept Elect & Control Engn, Hsinchu, Taiwan Natl Chiao Tung Univ Hsinchu Taiwan trol Engn, Hsinchu, Taiwan
Citazione:
C.P. Kuan e K.Y. Young, "VR-based teleoperation for robot compliance control", J INTEL ROB, 30(4), 2001, pp. 377-398

Abstract

Robots governed by remote human operators are excellent candidates for work in hazardous or uncertain environments such as nuclear plants or outer space. For successful teleoperation, it is important to let the operator feelphysically present at the remote site. When the telerobotic system is usedto execute compliance tasks in which simultaneous control of both positionand force may be demanded and inevitable contact with environments is encountered, information about the interactions between the robot manipulator and the environment are especially crucial for the operator to make proper decisions. This paper proposes a VR-based telerobotic system for such compliance tasks. The proposed system provides both visual and haptic information. A local intelligence controller, capable of surface tracking and force regulation, is equipped on the robot manipulator to tackle the time-delay problem usually present in teleoperation and to share control load with the operator. The proposed telerobotic system is developed in a virtual environment due to recent gains in the capabilities and popularity of virtual reality to generate realistic telepresence. Experiments based on the surface-tracking and peg-in-hole compliance tasks demonstrate the effectiveness of the proposed system.

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Documento generato il 04/07/20 alle ore 18:04:57