Abstract
Haptic Assisted Teleoperation Based on Virtual Fixture and Dynamic Modelling
Highlights
IntroductionIf the dynamic model can perfectly describe the real environment, human operators can perceive the virtual contact force directly in the virtual environment (VE) during manipulation
A new local implicit surface-based virtual fixture for the point cloud virtual environment (PCVE) was proposed with both forbidden region virtual fixtures (FRVFs) and guidance virtual fixtures (GVFs) to be applied for operators during robot manipulation in an unstructured environment
The proposed method was compared with the block-wise sliding least squares (BSLS) and the exponentially weighted recursive least squares (EWRLS) methods in terms of the accuracy in estimating force and convergence speed in tracking change, respectively
Summary
If the dynamic model can perfectly describe the real environment, human operators can perceive the virtual contact force directly in the VE during manipulation. A new local implicit surface-based virtual fixture for the point cloud virtual environment (PCVE) was proposed with both FRVFs and GVFs to be applied for operators during robot manipulation in an unstructured environment. The main contributions of this work are: [1] to implement a methodology for building a PCVE with both FRVFs and GVFs in the PCVE; [2] to propose a novel GVF construction method based on a robot-centered potential force field model in the PCVE; and [3] to realize a new parameter estimation method that considers the prediction error in dynamic modelling.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
