Haptic based teleoperation with master-slave motion mapping and haptic rendering for space exploration

查看全文 作　　者：Guanyang [1]LIU;Xuda [2]GENG;Lingzhi [2]LIU;Yan [3]WANG

机构地区：[1]State Key Lab of Virtual Reality Technology and Systems, Beihang University;[2]School of Mechanical Engineering and Automation, Beihang University;[3]Key Laboratory of Space Utilization, Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences

出　　处：《Chinese Journal of Aeronautics》索引2019年第32卷第3期,共14页

基　　金：supported by the Open Research Fund of Key Laboratory of Space Utilization,Chinese Academy of Sciences(No.LSU-YKZX-2017-02) 摘　　要：This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution. 关键词：TELEOPERATION HAPTIC device REMOTE control HAPTIC RENDERING Space EXPLORATION

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Haptic based teleoperation with master-slave motion mapping and haptic rendering for space exploration

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