Posture-based virtual force feedback control for teleoperated manipulator system

Operability/transpancy is of vital importance in telerobotic systems. For fear of collision between the end-effecter and the objects, human operator must make strict observation on the visual image and carefully plan small pieces of motion of the robot at a time. This makes operability worse. Good force telepresence can reduce the workload of human operator, overcome the limitation of vision information, and improve the operability performance of teleoperation system. In this paper, we describe a novel virtual force feedback control approach to enhance force telepresence and then make operability better. Based on accurate measurement of relative posture with a monocular vision, we first perform camera calibration to detect the relationship between pixel points in the image and points in the real object. Secondly, with the information transformation technique, the virtual reflective force is generated. Finally, virtual force feedback is used to improve the performance of operability. Experiments are made to demonstrate the effectiveness of posture-based virtual force feedback guided control method in telerobotic system.