Research on Augmented Reality Based Teleoperation System

摘要

In teleoperation system with large time delay, modeling error and accumulated motion error existing in predictive graphical simulation can seriously degrade the security, fidelity and efficiency of teleoperation. The problem can be overcome by applying augmented reality in teleoperation system. By using video overlay and object location technology, the operator can easily compare the planning result of simulation with the actual result of the robot, and the errors can be compensated by modifying and updating the simulated model. Experimental results demonstrate that the system can not only overcome the large time delay effectively, but also improve the fidelity and efficiency of teleoperation.