The Construction of Augmented Reality Teleoperation System with Force Feedback

Abstract:

Aiming at the time delay of telecommunication problem and the real-time correction problem in path planning, this paper presents a telerobot system based on augmented reality technology and force feedback technology. The core is the dynamic integration of live streaming video of the remote scene and virtual robot, and applying the force feedback sensing and control technologies to solve robotic arms path planning problem. Experiment proves that the system can basically solve the delay problem and make up for the limitation of merely relying on virtual reality simulation technology.

• Periodical: Applied Mechanics and Materials (Volumes 494-495)
• Pages: 1064-1067
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.494-495.1064
• Online since: February 2014
• Authors: Ping Wang*, Xin Gao, Rong Xin Fu, Si Yu Han, Xiao Jing Fang, Xiao Ou Liu
• Keywords: Augmented Reality, Force Feedback, Path Planning, Robot Arm

References

[1] Michael J. Fu and M. Cenk Cavusoglu. Human-arm-and-hand-dynamic Model with Variability Analyses for a Stylus-based Haptic Interface[J]. IEEE Transactions on Systems, Man, and Cybernetics—Part B: Cybernetics. 2012, 42(6): 1633-1644.

DOI: 10.1109/tsmcb.2012.2197387

[2] Gao X, Hu H, etc. 3-D Augmented Reality Teleoperated Robot System Based on Dual Vision[J]. The Journal of China Universities of Posts and Telecommunications. 2011, 18(1): 105-112.

DOI: 10.1016/s1005-8885(10)60035-0

[3] Taufiqur Rahman and Nicholas Krouglicof. An Efficient Camera Calibration Technique Offering Robustness and Accuracy Over a Wide Range of Lens Distortion[J]. IEEE Transactions on Image Processing. 2012, 21(2): 626-637.

DOI: 10.1109/tip.2011.2164421

[4] Abdel-Aziz Y I, Karara H M. Direct Linear Transformation into Object Space Coordinates in Close-range Photo Grammetey[A]. Proceedings of the Symposium on Close-Range Photo grammetry. 1971: 1-18.

DOI: 10.14358/pers.81.2.103

[5] Zheng Yi, Ning Ruxin, ect. Research on Fast Collision Detection Method in Virtual Assembly Environment[J]. Journal of System Simulation. 2005, 17(9): 2167-2170.

[6] Youjun Xiong, Shiqi Li and Zuguo Liu. Research on Augmented Reality of Tracking Registration[J]. Computer Utility Research. 2005, 22 (4): 81-83.

[7] John Vannoy, Jing Xiao. Real-time Adaptive Motion Planning (RAMP) of Mobile Manipulators in Dynamic Environments with Unforeseen Changes[J]. IEEE Transactions on Robotics. 2008, 24(5): 1199-1212.

DOI: 10.1109/tro.2008.2003277

[8] Chaoqiang Tu, Lizhen Yu. Research on Collision Detection Algorithm Based on AABB-OBB Bounding Volume[J]. Education Technology and Computer Science. 2009, 5(1): 331-333.

DOI: 10.1109/etcs.2009.82

[9] Tsalatsanis A, Valavanis K, Yalcin A. Vision Based Target Tracking and Collision Avoidance for Mobile Robots[J]. Journal of Intelligent and Robotic Systems. 2007, 48(2): 285-304.

DOI: 10.1007/s10846-006-9096-7