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http://dx.doi.org/10.5392/JKCA.2018.18.07.322

Development of Teleoperation System with a Forward Dynamics Compensation Method for a Virtual Robot  

Yang, Jeong-Yean (목원대학교 지능로봇공학과)
Publication Information
The Journal of the Korea Contents Association / v.18, no.7, 2018 , pp. 322-329 More about this Journal
Abstract
Teleoperation is defined with a master device that gives control command and a slave robot in a remote site. In this field, it is common that a human operator executes and experiences teleoperation with a virtual slave, and preliminary learns dynamic characteristic and network environment from both agents. Generally, a virtual slave has neglected forward dynamics and its kinematic model has been implemented in computer graphics. This makes a operator to experience actual feelings. This paper proposes a dynamic teleoperation model in which a robotic forward model is applied. Also, a novel compensation method is proposed to reduce the numerical error problems in forward dynamics caused by low control sampling rate. Finally, its results will be compared to the teleoperation in an actual environment.
Keywords
Virtual Slave; Tele-Operation; Foward Dynamics Method; Passive Control;
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