Networked Force-Reflecting Teleoperation of a VR-Based Telerobotic System Supported by Active Vision

• Main Authors: Yong-Sheng Lin, 林永昇
• Other Authors: Tsing-Iuan Tsay
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/43424523558304624283

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 92 === 　　Despite rapid advances in life-support technology, there are still many environments that may be hazardous or inaccessible to humans, such as dangerous rooms in a nuclear plant, areas near explosives, outer space, and under water. Also the application of fully-autonomous robotic systems in the same environments remains difficult or impractical in spite of advances in robot technology. Telerobotic systems, by which a human operator can enslave a remote robot manipulator using a hand controller according to information from feedback sensors, are a practical way to combine robot technology with human versatility. Such a system can bring a human operator’s perception, judgement, and dexterity to a task while allowing the operator to control the slave manipulator from a position of safety and convenience. 　　The objective of this thesis is to advance the bilateral control method of the VR-based telerobotic system operated through the Internet. The telerobotic system adopted in this study is mainly composed of a hand controller in local site, and a robotic binocular head and an industrial robot manipulator in remote site. A six-axis force-reflecting hand controller is used to make the operator feel the contact force in remote site and enhance the manipulation with the implementation of the proposed intelligent impedance control law. A virtual scene of the remote site is created in local site by the visual information provided by the binocular head in remote site and virtual reality (VR) technique to support the operator with visual information. One image-based look-and-move control strategy is proposed to enable the robotic head to saccade and fixate the target during the teleoperation. The pose of the target is then estimated by applying static stereo analysis to determine the three-dimensional information by a process called triangulation. The VR scene is created according to the pose information of the target. 　　Finally, the theoretical results are experimentally verified on the adopted telerobotic system. Specific experimental demonstrations include the unconstrained teleoperation and the peg-in-hole task to examine the performance of the system.