华中科技大学学报：自然科学版2011，Vol.39Issue(12)：68-71,4.
融合视觉的柔性虚拟夹具辅助遥操作研究
Research on flexible virtual fixture enhanced by vision for teleoperation
摘要
Abstract
Flexible virtual fixture enhanced by vision for unknown environment teleoperation was proposed.Firstly,the method utilized a flexible coefficient to regulate the prefered degree for robot movement,then the manipulative safety and performance for known environment could be obtained.Secondly,vision recognition based on color detection was implemented to recognize the size and position of obstacles,which extended the application to unknown environment by selecting the proper flexible factor,thus the manipulative safety and performance were maintained for unknown environment teleoperation.Lastly,experimental results of curve tracking with obstacles demonstrate the effectiveness of the proposed method.关键词
遥操作/颜色识别/虚拟夹具/人机交互/未知环境Key words
teleoperation/color recognition/virtual fixture/human robot interaction/unknown environment分类
信息技术与安全科学引用本文复制引用
蒋再男,刘宇,刘宏..融合视觉的柔性虚拟夹具辅助遥操作研究[J].华中科技大学学报：自然科学版,2011,39(12):68-71,4.基金项目
国家高技术研究发展计划资助项目 （）
中央高校基本科研业务费专项基金资助项目 （）
