Research on Force Telepresence of Network Teleoperation
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.
force telepresencenetwork teleoperationartificial potential field method
国家科技期刊平台
NSTL
万方数据
