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首页> 外文会议>Mechatronics and its Applications, 2009. ISMA '09 >Scaled telerobotic control of a manipulator in real time with laser assistance for ADL tasks
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Scaled telerobotic control of a manipulator in real time with laser assistance for ADL tasks

机译：带有激光辅助的ADL任务的机械手实时缩放机器人控制

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摘要

In this paper we present a novel concept of shared autonomous and teleoperation control of a remote manipulator with a laser-based assistance in a hard real-time environment for people with disabilities to perform activities of daily living (ADL). The laser pointer enables the user to make high-level decisions, such as target object selection, and it enables the system to generate a trajectories and virtual constraints to be used for autonomous motion or scaled teleoperation. Autonomous, position-teleoperation and velocity-teleoperation control methods have been implemented in the control code. Scaling and virtual fixtures have been used in the teleoperation-based control depending on the user preference. A real-time QNX operating system has been used to control a PUMA 560 robotic arm using an Phantom Omni master through a TCP/IP port. A SICK laser range finder was used to for the telerobotic control. The system was implemented with different control modes, and three healthy human subjects were trained to use the system for a pick-and-place task. Data were collected and presented for different control modes, and a comparison between these modes based on the time to complete the task was presented.
机译：在本文中，我们提出了一种新颖的概念，即在硬实时环境中，基于残障人士的激光辅助，远程操纵器的共享自主和遥操作控制，以使残疾人能够执行日常生活（ADL）。激光指示器使用户能够做出高层决策，例如目标对象的选择，并使系统能够生成轨迹和虚拟约束条件，以用于自主运动或缩放遥控操作。在控制代码中实现了自主，位置遥控和速度遥控控制方法。在基于远程操作的控制中，已根据用户的喜好使用了缩放比例和虚拟固定装置。实时QNX操作系统已用于通过Phantom Omni主设备通过TCP / IP端口控制PUMA 560机械手。使用SICK激光测距仪进行远程机器人控制。该系统采用不同的控制模式实施，并培训了三名健康的人类受试者以使用该系统执行取放任务。收集并提供了针对不同控制模式的数据，并根据完成任务的时间对这些模式进行了比较。

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