Abstract
In order to increase the robustness of space robot teleoperation system and good operational performance, the article design a set of haptic feedback system based on hand controller data glove and active vision system, which depend on the Pan-Tilt-Zoom (PTZ) camera and Kinect camera. It makes operators have the feeling of immersive. This system requires two operator cooperation, one processing Active Vision tracking and image processing, one controlling the movement of robot under the good perception environment. At the same time, Good interpersonal interface design to alleviate the pressure of the operator, in order to study the real space teleoperation scene, we use the software to set the delay system to make the operator to verify the performance of the system in the case of delay. The experiments show that no matter in the presence or absence of delay, the system completes the tasks at a high success rate.
This work is jointly supported by the National Natural Science Foundation of China (Grants No: 61075027, 91120011, 61210013), Tsinghua Self-innovation Project (Grant No: 20111081111) and Graduate student innovation fund project in Shanghai. Project approval no: JWCXSL1202.
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Huang, C., Liu, H., Sun, F., Sheng, Y. (2014). Space Robot Teleoperation Based on Active Vision. In: Wen, Z., Li, T. (eds) Practical Applications of Intelligent Systems. Advances in Intelligent Systems and Computing, vol 279. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-54927-4_22
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DOI: https://doi.org/10.1007/978-3-642-54927-4_22
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