Virtual Reality-based Teleoperation with Robustness Against Modeling Errors  

对模型误差具有鲁棒性的虚拟现实遥操作(英文)

作　　者：蒋再男[1] 刘宏[1] 王捷[1] 黄剑斌[1] 

机构地区：[1]哈尔滨工业大学机器人研究所

出　　处：《Chinese Journal of Aeronautics》2009年第3期325-333,共9页中国航空学报（英文版）

基　　金：National Natural Science Foundation of China (60675054);National High-Tech Research and Development Program (2006AA04Z228);"111" Project (B07018)

摘　　要：This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine m...This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine m...

关 键 词：space robot TELEOPERATION virtual reality model error visual recognition compliance control 

分 类 号：TP872[自动化与计算机技术—检测技术与自动化装置]