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Article: Network-based tele-robotic system with guidance functionality from virtual force

TitleNetwork-based tele-robotic system with guidance functionality from virtual force
Authors
KeywordsVirtual force feedback
Monocular vision
Teleoperation
Issue Date2010
Citation
Jiqiren/Robot, 2010, v. 32, n. 4, p. 522-528 How to Cite?
AbstractA virtual force guided control method for network-based tele-robotic systems is presented to obtain force effect before the slave robot contacts with the object to be grasped. Relative posture between the end-effector and the object to be grasped is obtained based on the monocular vision technology, and it is transformed into force feedback information to which operators are more sensitive. The operator can give proper commands to control the slave robot to achieve the desired final posture under the guidance of the virtual force information. A demonstration setup is developed with man-made targets and the camera fixed on the wrist of the robot. Teleoperation experiments are conducted under robot position control mode and attitude control mode respectively, which demonstrate the improvement of operability and efficiency of the tele-robotic system.
Persistent Identifierhttp://hdl.handle.net/10722/213111
ISSN
2015 SCImago Journal Rankings: 0.292

 

DC FieldValueLanguage
dc.contributor.authorHua, Jianning-
dc.contributor.authorCui, Yujie-
dc.contributor.authorLi, Hongyi-
dc.contributor.authorWang, Yuechao-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:06:10Z-
dc.date.available2015-07-28T04:06:10Z-
dc.date.issued2010-
dc.identifier.citationJiqiren/Robot, 2010, v. 32, n. 4, p. 522-528-
dc.identifier.issn1002-0446-
dc.identifier.urihttp://hdl.handle.net/10722/213111-
dc.description.abstractA virtual force guided control method for network-based tele-robotic systems is presented to obtain force effect before the slave robot contacts with the object to be grasped. Relative posture between the end-effector and the object to be grasped is obtained based on the monocular vision technology, and it is transformed into force feedback information to which operators are more sensitive. The operator can give proper commands to control the slave robot to achieve the desired final posture under the guidance of the virtual force information. A demonstration setup is developed with man-made targets and the camera fixed on the wrist of the robot. Teleoperation experiments are conducted under robot position control mode and attitude control mode respectively, which demonstrate the improvement of operability and efficiency of the tele-robotic system.-
dc.languageeng-
dc.relation.ispartofJiqiren/Robot-
dc.subjectVirtual force feedback-
dc.subjectMonocular vision-
dc.subjectTeleoperation-
dc.titleNetwork-based tele-robotic system with guidance functionality from virtual force-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.3724/SP.J.1218.2010.00522-
dc.identifier.scopuseid_2-s2.0-77955253463-
dc.identifier.volume32-
dc.identifier.issue4-
dc.identifier.spage522-
dc.identifier.epage528-

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