A Robotic Teleoperation System for Precise Robotic Manipulation by Human-Machine Interaction  

作　　者：SUN Fuchun GUO Di CHEN Yang 

机构地区：[1]Department of Computer Science and Technology,Tsinghua University,Beijing 100084,China

出　　处：《上海航天（中英文）》2022年第4期114-127,共14页Aerospace Shanghai（Chinese&English）

基　　金：NSFC-Shenzhen Robotics Research Center Project(No.U2013207);the Beijing Science and Technology Plan Project(No.Z191100008019008)。

摘　　要：Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot workshop.It provides a way for people to control robots remotely using human intelligence.In this paper,a robotic teleoperation system for precise robotic manipulation is established.The data glove and the 7-degrees of freedom(DOFs)force feedback controller are used for the remote control interaction.The control system and the monitor system are designed for the remote precise manipulation.The monitor system contains an image acquisition system and a human-machine interaction module,and aims to simulate and detect the robot running state.Besides,a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy observations.The established robotic teleoperation systemis applied to a series of experiments,and high-precision results are obtained,showing the effectiveness of the physical system.

关 键 词：TELEOPERATION human-machine interaction precise manipulation visual object tracking robotich and manipulation 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]