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首页> 外文期刊>Advances in Mechanical Engineering >Translational objects dynamic modeling and correction for point cloud augmented virtual reality–based teleoperation:
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Translational objects dynamic modeling and correction for point cloud augmented virtual reality–based teleoperation:

机译：基于点云增强的基于虚拟现实的远程操作的转换对象动态建模和校正：

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摘要

It is a challenging task for operators to interact with the remote environment without its geometric and dynamic knowledge during teleoperation. In this article, a novel system architecture for implementing the translational object modeling and correction during remote interaction is proposed to reconstruct the haptic interaction and predict the object motion at the local virtual reality–based teleoperation. First, a stress mutation analysis method is proposed for segmenting the translational object motion into static phase, critical phase, and sliding phase. And the static limiting friction is originally estimated in the teleoperation area. Meanwhile, mass-damper-spring model and adapted Karnopp friction model are adopted for dynamic modeling in each phase. Second, a novel adaptive forgetting factor recursive least square method is studied for high-accuracy parameter estimation. With the estimated model parameters, the motion of the translational object is predicted at the master side. Meanwhile, for mod...
机译：对于操作员来说，在远程操作过程中在没有其几何和动态知识的情况下与远程环境进行交互是一项艰巨的任务。在本文中，提出了一种用于在远程交互过程中实现转换对象建模和校正的新颖系统架构，以重构触觉交互并预测基于本地虚拟现实的远程操作中的对象运动。首先，提出了一种应力突变分析方法，将平移对象运动分为静态，临界和滑动两阶段。静态极限摩擦最初是在遥测区域中估计的。同时，在每个阶段采用质量阻尼器弹簧模型和自适应卡诺普摩擦模型进行动态建模。其次，研究了一种新的自适应遗忘因子递推最小二乘方法，用于高精度参数估计。利用估计的模型参数，可以在主控端预测平移对象的运动。同时，对于...

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