计算机与数字工程2024，Vol.52Issue(10)：2937-2940,4.DOI:10.3969/j.issn.1672-9722.2024.10.015
网络遥操作力觉临场感研究
Research on Force Telepresence of Network Teleoperation
摘要
Abstract
In order to improve the operation ability of the operator in the teleoperation system,taking the teleoperation human-oid robot as the research object,the virtual force model is established by using the artificial potential field method,and the teleoper-ation handle is used as the force feedback device.The realization method of force telepresence is given,and the experiment of the operator manipulating the handle to remotely manipulate the humanoid robot arm to grasp objects is carried out.The experimental re-sults show that the theoretical value of the force felt by the operator calculated by the virtual force model is basically consistent with the actual force felt by the operator's joystick,which realizes the playback process of the virtual force and improves the operation ability of the operator in the teleoperation system.关键词
力觉临场感/网络遥操作/人工势场法Key words
force telepresence/network teleoperation/artificial potential field method分类
信息技术与安全科学引用本文复制引用
谷文通,符秀辉..网络遥操作力觉临场感研究[J].计算机与数字工程,2024,52(10):2937-2940,4.基金项目
国家自然科学基金项目"基于啄木鸟啄击动态调节机理的星球仿生采样机器人研究"(编号:51775541)资助. （编号:51775541）
