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

가상 슬레이브 정동역학 보정에 기반한 원격제어 시스템 개발

  • 양정연 (목원대학교 지능로봇공학과)
  • Received : 2018.06.04
  • Accepted : 2018.06.29
  • Published : 2018.07.28


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.


Virtual Slave;Tele-Operation;Foward Dynamics Method;Passive Control


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