Virutual guides for force feedback teleoperation

In this paper, several kinds of virtual guides have been developed which aims at mitigating trajectory errors between real mobile manipulator and its virtual model, hence improving both the accuracy and the safety of teleoperation. By utilizing proposed virtual guide sphere, corresponding virtual guides have been constructed. Then geometric analysis is conducted since the position relation of manipulator and virtual guide determines their particular interactive states. The experiment is based on human-machine shared control platform, in which force feedback is provided to operators. The final results demonstrate that operators are able to track both force and position of end-effector, meanwhile stable force feedback is available.

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