The environment geometry model based-VR teleoperation systems couldn't adapt to the unpredicted, dynamic changing and unstructured environment any more for the development space of mankind is expanding continuously, in which many circumstances are uncertain. The Interactive Partial Modeling (IPM) technique was developed to solve this problem. The establishing of IPM system for the unstructured environment includes three parts: the image information obtaining subsystem of the reality worksite, the designing of 3D virtual manipulation subsystem and the registration between virtual object and real scene. The feedback of the image information is realized through stereo-video and the virtual model of the telerobot is developed with OpenGL. The position and pose of the virtual graphic can be set in the stereo-video with the telerobot as the calibration object. So manipulation of virtual unstructured environments and the real scene with 3D image can be realized, which has expanded the application of robotic teleoperation.
KEYWORDS: Control systems, 3D modeling, Digital signal processing, Mathematical modeling, Sensors, Video, Three dimensional sensing, Information visualization, Data modeling, Environmental sensing
A novel control method, called Interactive Partial Modeling-based Teleoperation Control (IPMTC) was developed to realize the intelligent control of the telerobot system in unstructured environment, combined with the intelligent digital hybrid controller that have been developed. This method can estimate task status and environment perception information, and send requests for intervention of human operation (HO) real time during autonomy. In order to guarantee real time transition of HO intervention and autonomy, the intelligent control module was developed based on the results of task estimation, which can realize the functions of task plan, subtask autonomous execution, and automated reasoning about the task. A new remote predictive control method and the single/double delay time compensation strategy are introduced to improve the real time performance of the system. The performances of the teleoperation system in unstructured environments are guaranteed with above control techniques.
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