A haptic and visual telepresence robotic system based on real-time point cloud interaction

摘要

The telepresence robot system with human-robot interaction is an effective way to perform tasks in unknown environment. Virtual fixture is an important way to generate haptic forces to improve the safety and accuracy of robotic teleoperation. Traditional virtual fixture method is based on precise environment model beforehand. However, once the relative movement of target and end effector of the robot exists, this previous modeling method is not applicative. This paper proposes a new point cloud interaction method, which combines RGB (Red, Green, Blue) information and depth information to let operator monitor the working environment of robot in real-time. Haptic forces are rendered from real-time point cloud data by optimized three layer proxy point model interacted with point cloud. Methods above are analyzed on KUKA youBot with satisfying force telepresence and task accuracy.