机器人2011，Vol.33Issue(6)：685-690,6.DOI:10.3724/SP.J.1218.2011.00685
力反馈柔性虚拟夹具辅助遥操作
Haptic Flexible Virtual Fixture for Teleoperation
摘要
Abstract
For the conflict between manipulation safety and performance of teleoperation in unknown environment, a haptic flexible virtual fixture is proposed and implemented. It introduces a flexible coefficient to regulate the preference degree of robot moving towards the desired direction, which combines the advantages of manual control and off-line task planning. A certain manipulation performance can be obtained, and the ability to avoid obstacles in the off-line task planning path is achieved to guarantee the teleoperation safety. Furthermore, the virtual force feedback is integrated into the flexible virtual fixture to enhance the manipulation performance. The experimental results of sine curve tracking show that the proposed method decreases the average tracking error and the task completion time, and the manipulation safety and performance are obtained during the unknown environment teleoperation.关键词
遥操作/力反馈/虚拟夹具/人机交互Key words
teleoperation/ haptic feedback/ virtual fixture/ human robot interaction分类
信息技术与安全科学引用本文复制引用
蒋再男,赵京东,刘宏..力反馈柔性虚拟夹具辅助遥操作[J].机器人,2011,33(6):685-690,6.基金项目
中央高校基本科研业务费专项基金资助项目(HIT.NSRIF201168) （HIT.NSRIF201168）
国家863计划资助项目(2009AA043803). （2009AA043803）
