哈尔滨工程大学学报2026，Vol.47Issue(3)：562-568,7.DOI:10.11990/jheu.202401002
增强现实机器人无线遥操作的视触同步方法
Visual-tactile synchronization algorithm for augmented reality-based ro-botic wireless teleoperation
摘要
Abstract
To address the"hand-eye dissonance"problem of robotic wireless teleoperation in an augmented reality(AR)environment,a visual-tactile synchronization algorithm based on variable scale incremental mapping and error correction is proposed.First,based on robotic kinematic modeling theory,the AR virtual model of the practical robot in the slave domain is established by the forward and inverse transformations among different coordinate systems.On this basis,a variable scale incremental mapping algorithm is proposed based on acceleration perception,which solves the cross-scale motion problem between the force feedback controller in the master domain and the practical and virtual ro-bots in the slave domain,and supports fine-grained teleoperation.Furthermore,for the asynchrony between visual and tactile caused by the bi-directional asymmetric transmission of visual and tactile information as well as the difference in physiological feedback time,a visual-tactile hybrid error correction algorithm based on time delay compensation is pro-posed.Finally,a 5G-based robotic tactile wireless teleoperation system is developed.The experimental results show that the proposed algorithm improves the trajectory tracking performance by 77.48%and can reach centimeter level syn-chronization accuracy,which can support the visual-tactile synchronized teleoperation of AR robots.关键词
增强现实机器人/无线遥操作/5G/力反馈/运动学建模/轨迹跟踪/视触同步/时延补偿/误差修正Key words
augmented reality robot/wireless teleoperation/5G/force feedback/kinematics modeling/trajectory tracking/visual-tactile synchronization/delay compensation/error correction分类
信息技术与安全科学引用本文复制引用
陈雷,许驰,李琳,封岸松..增强现实机器人无线遥操作的视触同步方法[J].哈尔滨工程大学学报,2026,47(3):562-568,7.基金项目
国家自然科学基金项目(62522320,92267108) （62522320,92267108）
辽宁省科学技术计划(2026JH6/101100030,2023JH3/10200004,2022JH25/10100005,XLYC2403062). （2026JH6/101100030,2023JH3/10200004,2022JH25/10100005,XLYC2403062）
