Visual Prediction based Teleoperation Control

Abstract

In many tele-operation tasks, the network communication delay caused by the distance between the master and the slave side make the time delay inevitably an important factor affecting the performance of the system. This paper addresses the problem of how to improve the transparency and stability of tele-operated manipulator systems under the influence of time delay, and designs a tele-operated system based on virtual predictive simulation to estimate the virtual force on the deformation region of the target surface by a spring-mass-model when the manipulator interacts with the target in the virtual environment, and finally verifies the effectiveness of the proposed method in weakening the influence of time delay through experiments.