增强现实机器人无线遥操作的视触同步方法OA

To address the"hand-eye dissonance"problem of robotic wireless teleoperation in an augmented reality(AR)environment,a visual-tactile synchronization algorithm based on variable scale incremental mapping and error correction is proposed.First,based on robotic kinematic modeling theory,the AR virtual model of the practical robot in the slave domain is established by the forward and inverse transformations among different coordinate systems.On this basis,a variable scale incremental mapping algorithm is proposed based on acceleration perception,which solves the cross-scale motion problem between the force feedback controller in the master domain and the practical and virtual ro-bots in the slave domain,and supports fine-grained teleoperation.Furthermore,for the asynchrony between visual and tactile caused by the bi-directional asymmetric transmission of visual and tactile information as well as the difference in physiological feedback time,a visual-tactile hybrid error correction algorithm based on time delay compensation is pro-posed.Finally,a 5G-based robotic tactile wireless teleoperation system is developed.The experimental results show that the proposed algorithm improves the trajectory tracking performance by 77.48%and can reach centimeter level syn-chronization accuracy,which can support the visual-tactile synchronized teleoperation of AR robots.