Interactive control method for teleoperation hand-eye coordination

Abstract

The invention discloses an interactive control method oriented to hand-eye coordination of remote operation, which is used to solve the technical problem of poor practicability of the existing human-computer interaction control method. The technical solution is based on the conversion of the coordinate system. When the operator controls the movement of the scene object by switching the device, the pose of the scene object is first converted from the world coordinate system to the camera coordinate system, and then moves as expected in the camera coordinate system plus interaction The precession amount of the device is used to obtain the pose coordinates of the new camera coordinate system, and finally the newly obtained pose coordinates are converted from the camera coordinate system to the world coordinate system to control the actual movement of the scene object. The invention realizes the hand-eye coordination in the remote operation process, that is, the movement of the scene object in the interactive operation process is not affected by the operator's viewing angle transformation of the scene, and is consistent with the movement of the interactive device, reduces the difficulty of remote operation, and has good practicability.

Description

technical field [0001] The invention relates to a human-computer interactive control method, in particular to an interactive control method oriented to hand-eye coordination of remote operation. Background technique [0002] The document "Master-Slave Control Strategy for Teleoperation Robot System, Journal of Jiangsu University of Science and Technology (Natural Science Edition), 2013, Vol27(8), p643-647" discloses a control method for a master-slave teleoperation robot system. This method adopts an incremental position control method to control the movement of the slave hand with the increment of the master hand, which effectively avoids the cumbersome initial return to the origin. When the operator directly observes the operated environment information and when the operator observes the operated environment information through the image device, the position correspondence between the master and the slave is different. By adjusting the proportional control gain matrix, the...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of poor practicability of existing human-computer interaction control methods, the present invention provides an interactive control method oriented to hand-eye coordination of remote operation

Images