Tao Ni1, Lingtao Huang1,*, Huanfei Zheng2, Hongyan Zhang1
Intelligent Automation & Soft Computing, Vol.27, No.1, pp. 143-158, 2021, DOI:10.32604/iasc.2021.012268
Abstract To overcome the problem that a teleoperation system loses robustness when the target moves outside the robot’s visual field or it is far away from the desired position, and to improve the operability and controllability of a master-slave teleoperation system, we present an image servo based haptic feedback (ISBHF) control method for teleoperating. The ISBHF control method involves extracting target feature points and constructing image servo based virtual force. First, the image characteristics of the environment and targets are identified and extracted by a 3D reconstruction method. A composite image Jacobian matrix is used to construct virtual guidance force based… More >
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