为提高遥操作机器人的安全性和操作性能,利用人类对力觉信息更敏感的特点和视觉特有的“预测与导引”功能,将视觉对现场环境的认知结果以虚拟力(包括作业对象引力、障碍物斥力)的方式同操作者的操纵力信号融合,提出遥操作机器人的力感示教控制策略.力感示教控制策略将机器智能与人类高级决策的优点相结合,可有效提高遥操作机器人的作业效率与局部自主,降低对操作者熟练程度的要求,以及避免大时延系统中由图像时滞导致的机器人操控盲目性.对该控制系统的体系结构、作业环境空间信息的提取、控制方法等进行了阐述,并通过实验验证了控制方法在提高遥操作机器人作业效率和安全性等方面的优越性.%In order to improve the safety and manipulation performance for telerobotic system, a kinesthesis teaching control strategy for telerobotics was presented. Utilizing the characteristics of human's sensitivity to force information as well as the specific feature of vision's forecast and guidance, the control force of the operator with the virtual forces was merged, including the attraction force from objectives, and the rejection force from obstacles, which were generated from the recognition results of working fields based on vision techniques. Furthermore, it combined the advantages of machine intelligence with human's high-level decision, which could improve effectively the working efficiency as well as local autonomy of tele-robot, and reduce the proficiency requirements of operator. Especially, in a teleoperation system with large time delay, the method could avoid the blinded manipulation of robot aused by lagging transmission of image. The system structure, extraction of the operating environment spatial information and control methods were introduced in detail. The superiority of the proposed control strategy in improving the operating efficiency and security of the telerobotic system were verified by relative experiments.
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