APISAT 2014 Research on 3 D Virtual Environment Modeling Technology for Space Tele-robot

To overcome the time delay in tele-robot system, a new 3D virtual environment modeling technology is proposed in this paper. The interactions between slave robot and environment can be attained in advance in a 3D virtual environment in the master side, therefore an accurate operation of space tele-robot can be realized and the effect of time delay would be minimized. Firstly, 3D virtual interaction scenario is modeled as a point cloud data image, and the target objects are recognized from the image and reconstructed by using Random Sample And Consensus (RANSAC) algorithm. Secondly, an effective method is proposed to modify the position of virtual robot and calculate the virtual interactive force between the virtual robot and the virtual objects. Lastly, the experiment is completed with the time delay. The errors are lower (10% F.S.), while virtual interaction force is compared with the real force measured by the force sensor. Experimental results show that this 3D virtual environment modeling method is effective and reliable for space tele-robot control. © 2014 The Authors. Published by Elsevier Ltd. Peer-review under responsibility of Chinese Society of Aeronautics and Astronautics (CSAA).

[1]  Chung Hyuk Park,et al.  Vision-based force guidance for improved human performance in a teleoperative manipulation system , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Hironao Yamada,et al.  Construction Tele-robot System With Virtual Reality , 2008, 2008 IEEE Conference on Robotics, Automation and Mechatronics.

[3]  Alonzo Kelly,et al.  Real-time photo-realistic visualization of 3D environments for enhanced tele-operation of vehicles , 2009, 2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops.

[4]  Wang Jian,et al.  Research of 3D Modeling of Virtual Reality for LAMOST Based on OpenGL , 2010, 2010 Second International Workshop on Education Technology and Computer Science.

[5]  Hironao Yamada,et al.  Tele-operation Construction Robot Control System with Virtual Reality Technology , 2011 .

[6]  Tomás Pajdla,et al.  3D with Kinect , 2011, 2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops).

[7]  Weihai Chen,et al.  Edge map guided stereo matching in HSL color space for mobile robot navigation , 2011, 2011 IEEE International Conference on Robotics and Biomimetics.

[8]  Hui Lin,et al.  Depth image enhancement for Kinect using region growing and bilateral filter , 2012, Proceedings of the 21st International Conference on Pattern Recognition (ICPR2012).

[9]  Cheng-Tiao Hsieh.  An efficient development of 3D surface registration by Point Cloud Library (PCL) , 2012, 2012 International Symposium on Intelligent Signal Processing and Communications Systems.

[10]  Rüdiger Dillmann,et al.  Modular robots for on-orbit satellite servicing , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[11]  Katherine J. Kuchenbecker,et al.  [D72] Control of a virtual robot with fingertip contact, pressure, vibrotactile, and grip force feedback , 2014, 2014 IEEE Haptics Symposium (HAPTICS).