Force-reflecting teleoperation of robots based on on-line correction of a virtual model

Abstract

Virtual reality is an effective method to eliminate the influence of time delay. However, it depends on the precision of the virtual model. In this paper, we introduce a method that corrects the virtual model on-line to establish a more precise model. The geometric errors of the virtual model were corrected on-line by overlapping the graphics over the images and also by syncretizing the position and force information from the remote. Then the sliding average least squares (SALS) method was adopted to determine the mass, damp, and stiffness of the remote environment and use this information to amend the dynamic model of the environment. Experimental results demonstrate that the on-line correction method we proposed can effectively reduce the impact caused by time delay, and improve the operational performance of the teleoperation system.