An Interactive Space Robot Teleoperation Experiment Based on Virtual Fixtures

摘要

The predictive simulation technology is an effective way to remove the influence of large time delay of the teleoperation.Before interacting with the virtual environment using the robotic arm,the operator can not manipulate the robot safely and effectively due to little telepresence information caused by limited visual feedback.Furthermore,the precision of the operation is compromised by operator's own physical limitation.This paper presented a way that utilizes virtual fixtures as a restriction as well as a guide to the operator.The experimental results indicate that the operator's telepresence can be greatly improved,and the operator can complete the task quickly and precisely.