Haptically guided teleoperation system based on virtual attractive force

摘要

In this paper, a haptically guided teleoperation system which is based on virtual attractive force is introduced. It is well known that haptic feedback can be used to enhance performance of teleoperation systems. When the end-effector is in contact with environment, force/torque sensors can be used to provide real haptic information to operators. Although it is not necessary to provide haptic information when the end-effector is in free motion, operators should make strict observations about video images to take precautions against collision between robot and the environment, especially when the end-effector is in vicinity of object to be grasped. As a result, performance of teleoperation systems is reduced greatly. To achieve haptic feedback in free motion of remote robot, visual information obtained from a monocular camera is transformed into virtual haptic/force information to which operators are more sensitive. The virtual haptic feedback method can be used to guide operators to conduct tele-grasping tasks effectively and allows high operability of the system. Finally, experimental results are presented which demonstrate effectiveness of the implemented method.