Unified approach for teleoperation of virtual and real environment-manipulation based on reference dynamics

摘要

In this paper, we design a control system so that the dynamic characteristics of the teleoperation system is specified appropriately for the task execution and the extraction of the operator's skill. We define such dynamic characteristics as "reference dynamics" for the task. We consider to design a control algorithm for the master arm manipulating the virtual environment so that the system has the reference dynamics. Then we consider to design a control algorithm for the teleoperation system so that the system has the reference dynamics given to the manipulator of the virtual environment. By designing the control scheme so that the master and slave arm has the same dynamic characteristics, the skill extracted from the operation of the virtual environment would be applied to the real task directly. The proposed system is applied to experimental manipulator system and experimental results illustrate the validity of the system.