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The virtual-reality technology and robot virtual force feedback technology are researched both on theory and experiment. The telerobot control system based on dual-virtual model and virtual force is presented. The 3D visualized virtual operation platform is developed combined with 3DS Max, OpenGL and Visual C++ with the six DOF MOTOMAN robot. System architecture is analyzed and the synchronization...
In order to reduce the operator's working strength and the damage that comes from the unknown obstacles to the telerobot, an obstacle avoidance algorithm for the telerobot is proposed based on virtual torque. In this algorithm, the virtual force between robot and obstacles is established using the principle of "the same sex is repulsive and the opposite sex is attractive". The function model...
In order to improve the precision and efficiency of teleoperation real-time task, a new method, dual-virtual model overlapping display teleoperation control system is proposed. The accurate and efficient control of remote robot can be realized by controlling the virtual operation model and virtual feedback model overlapping displayed in the same display window. For the control variables for virtual...
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