Title :
Visual technologies in shared control mode of robot teleoperation system
Author :
Jinshi, Cui ; Zengqi, Sun ; Ping, Li
Author_Institution :
Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China
Abstract :
This paper introduces a dual arm space robot teleoperation system (DSRTS), and key technologies of the system are presented in detail, which include graphical simulation, task planning, shared control, EKF (extended Kalman filter) based modeling, parameter calibration, etc. Several experiments implemented in our system are introduced at last. This system has been a nice test-bed for research on internet control, sensor fusion, graphical modeling, etc.
Keywords :
Kalman filters; calibration; engineering graphics; filtering theory; manipulators; robot vision; telerobotics; DSRTS; EKF-based modeling; Internet control; dual arm space robot teleoperation system; extended Kalman filter; graphical modeling; graphical simulation; parameter calibration; robot teleoperation system; sensor fusion; shared control; shared control mode; task planning; visual technologies; Computational modeling; Computer science; Computer simulation; Control systems; Electronic mail; Laboratories; Orbital robotics; Robot control; Space technology; Sun;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020098
