Optimization of Extravehicular Dual-arm Robot Teleoperation Synchronization Process Based on a Force Guidance Strategy
To improve the efficiency in extravehicular dual-arm teleoperation synchronize process,an optimization method based on force guidance was put forward.Dual-arm robot collaboration work-space was analyzed using improved Monte-Carlo method and an optimized collaborating position pre-diction method was introduced.To reach the optimized collaborating position,operator was guided to teleoperate the two arms through force guidance.Experiments showed that compared to teleoperation process with visual feedback only,the operation cost 84.26%less time to establish a synchronization state,the path length within the synchronization process was reduced by 35.43%after synchroniza-tion process optimization;and had lower variance compared to KGT(Kinematic Guidance Teleopera-tion)method meaning stabler performance.
teleoperationMonte Carlo methodposition predictionforce guidancedual-armsynchronization process
万方数据
维普
