The research on the force-reflecting teleoperation system based on virtual reality

Wei Liu; Aiguo Song

doi:10.1117/12.717811

28 October 2006 The research on the force-reflecting teleoperation system based on virtual reality

Wei Liu, Aiguo Song

Proceedings Volume 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation; 635814 (2006) https://doi.org/10.1117/12.717811
Event: Sixth International Symposium on Instrumentation and Control Technology, 2006, Beijing, China

Abstract

Virtual reality is an effective method to solve the time-delay problem in force-reflecting teleoperation, but it depends on the accuracy of the virtual model. So we consider the online error compensate of the predictive virtual model, for acquiring accurate interaction information. Firstly, the sliding average least square (SALS) method is adopted to identify the mass, damp and stiffness of the remote environment, in order to build and amend the virtual environment dynamic model in real time. Secondly, we consider the predictive virtual model as a time forward observer, and design our error compensate observer. Through constructing the dynamics equation of the system, we also analyzed the condition of stability and transparency. Experimental results are shown that these methods can reduce the influence of time delay with guarantee of stability, and promote the operability of the system.

Citation Download Citation

Wei Liu and Aiguo Song "The research on the force-reflecting teleoperation system based on virtual reality", Proc. SPIE 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation, 635814 (28 October 2006); https://doi.org/10.1117/12.717811

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