Method for enhancing teleoperation telepresence based on virtual environment reconstruction

A virtual environment and teleoperation technology, applied in the field of teleoperation technology and computer science, can solve the problems of the stability of the teleoperation system and the reduction of the presence of the tracking performance, so as to enhance the teleoperation presence, improve the presence, and reduce the delay. Effect

Inactive Publication Date: 2017-04-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
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Problems solved by technology

However, due to the existence of time delay, the stability, tracking performance and sense of presence of the entire teleoperation system are often reduced.

Method used

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  • Method for enhancing teleoperation telepresence based on virtual environment reconstruction
  • Method for enhancing teleoperation telepresence based on virtual environment reconstruction
  • Method for enhancing teleoperation telepresence based on virtual environment reconstruction

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specific Embodiment

[0062] On the operating side of the teleoperation system, a virtual slave task environment is established first, and the corresponding ratio between the real environment and the virtual environment is 1:1. Dynamically model the remote environment:

[0063]

[0064] where k and λ represent the stiffness coefficient and damping coefficient at the contact, respectively. x e Indicates the depth of cut between contacts along the cut direction. Indicates the relative velocity of the contact objects at the point of contact. n represents the collision index, which represents the degree of nonlinearity of the contact material. This dynamical model can clearly explain the relationship between the remote task performer and its surrounding environment, therefore, it is necessary to establish it.

[0065] F in formula (1) e is obtained by the force sensor on the remote actuator, and the stiffness coefficient k coefficient of the contact object can be obtained by formula (2):

[006...

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Abstract

The invention relates to a method for enhancing teleoperation telepresence based on virtual environment reconstruction. The method comprises the following steps: distinguishing partial parameters (rigidity coefficient and damping coefficient) of a far-end environment through the far-end real-time feedback force, reconstructing the far-end environment at a main terminal so that the establishment of the main terminal virtual environment is more precise; not only is the influence of the time delay lowered, but also the real-time virtual feedback force is provided for a main terminal operator; and meanwhile, the virtual-reality technology is used for the main terminal, the telepresence of the main terminal operator is improved, and the operator can better finish the task.

Description

technical field [0001] The invention belongs to the field of teleoperation technology and computer science, and relates to a method for enhancing teleoperation telepresence based on virtual environment reconstruction. Background technique [0002] Teleoperation technology has played an increasingly important role in many fields such as space robots, high-precision assembly, and surgery. In a teleoperation system, the operator interacts with the remote environment through a slave-side robotic arm. On the one hand, teleoperation technology can provide the operator with a safe environment, and on the other hand, it can provide the operator with a strong sense of presence. However, due to the influence of time delay, the sense of presence is reduced. In order to enhance the sense of presence of the operator on the main end, the real-time feedback force of the remote end is used to identify some parameters (stiffness coefficient and damping coefficient) of the remote end environ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F3/01G06F17/50
CPCG06F3/011G06F3/016G06F30/20G06F2119/06
Inventor 黄攀峰赵洲刘正雄孟中杰张夷斋张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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