Visual technologies in shared control mode of robot teleoperation system

摘要

This paper introduces a dual arm space robot teleoperation system (DSRTS), and key technologies of the system are presented in detail, which include graphical simulation, task planning, shared control, EKF (extended Kalman filter) based modeling, parameter calibration, etc. Several experiments implemented in our system are introduced at last. This system has been a nice test-bed for research on internet control, sensor fusion, graphical modeling, etc.