Visual technologies in shared control mode of robot teleoperation system
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress （2002）
摘要
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.
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关键词
graphical simulation,interactive task planning,kalman filter,shared control,virtual_real overlay,engineering graphics,sun,telerobotics,calibration,computer science,sensor fusion,space technology,robot control,computational modeling,extended kalman filter,control systems,kalman filters,computer simulation
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