Title :
Virutual guides for force feedback teleoperation
Author :
Jihong Yan ; Chen Yang ; Qingchao Lu ; Jie Zhao
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
In this paper, several kinds of virtual guides have been developed which aims at mitigating trajectory errors between real mobile manipulator and its virtual model, hence improving both the accuracy and the safety of teleoperation. By utilizing proposed virtual guide sphere, corresponding virtual guides have been constructed. Then geometric analysis is conducted since the position relation of manipulator and virtual guide determines their particular interactive states. The experiment is based on human-machine shared control platform, in which force feedback is provided to operators. The final results demonstrate that operators are able to track both force and position of end-effector, meanwhile stable force feedback is available.
Keywords :
end effectors; force feedback; geometry; human-robot interaction; mobile robots; telerobotics; trajectory control; virtual reality; end-effector force tracking; end-effector position tracking; force feedback teleoperation; geometric analysis; human-machine shared control platform; interactive states; position relation; real mobile manipulator; teleoperation safety; trajectory error mitigation; virtual guides; virtual model; Force; Force feedback; Manipulators; Robot kinematics; Trajectory; Virtual environments; Teleoperation; force feedback; shared control; virtual environment; virtual guide;
Conference_Titel :
Information and Automation (ICIA), 2013 IEEE International Conference on
Conference_Location :
Yinchuan
DOI :
10.1109/ICInfA.2013.6720286
