移动机器人遥操作中力反馈技术的研究

在已有的遥操作系统中增加力反馈,通过计算移动机器人与周围障碍物之间的虚拟交互力,并将其映射到操纵杆上变成操作者可以感知的力,这样操作者能感觉到机器人与环境之间的作用力,从而有效地完成操作任务.实验结果表明该方法能够有效控制机器人行走,显示了在非结构性环境下临场感在增强人机交互能力方面的优越性.

This paper adds to the force feedback in the original teleoperation systems,through computing virtual interaction force which was displayed by force feedback device between the barrier and mobile robots,operator can sense interactive force between mobile robot and environment, thereby effectively complete operation tasks.Experimental result indicates robot can safely move and shows the telepresence's advantage in strengthening the man-machine alternation ability under the unstructured dynamic environment.

国家自然科学基金(60334010)