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1、VirtualRealityTeleroboticSystemURIKARTOUN,HELMANSTERN,YAELEDANDepartmentofIndustrialEngineeringandManagement,Ben-GurionUniversityoftheNegev,Be’er-Sheeva,ISRAELABSTRACTThispaperdescribesateleroboticsystemoperatedthroughavirtualreality(VR)interface.Aleastsquar
2、esmethodisusedtofindthetransformationmapping,fromthevirtualtorealenvironments.Resultsrevealedanaveragetransformationerrorof3mm.Thesystemwastestedforthetaskofplanningminimumtimeshakingtrajectoriestodischargethecontentsofasuspiciouspackageontoaworkstationplatf
3、orm.PerformancetimestocarryoutthetaskdirectlythroughtheVRinterfaceshowedrapidlearning,reachingstandardtime(288seconds)within7to8trials-exhibitingalearningrateof0.79.1.INTRODUCTIONTeleoperationisusedwhenataskhastobeperformedinahostile,unsafe,inaccessibleorrem
4、oteenvironment(1).Atelerobotisdefinedasarobotcontrolledatadistancebyahumanoperator(HO)regardlessofthedegreeofrobotautonomy.Teleroboticdevicesaretypicallydevelopedforsituationsorenvironmentsthataretoodangerous,uncomfortable,limiting,repetitive,orcostlyforhuma
5、nstoperform(2).Someapplicationsinclude:underwater(3),space(4),resourceindustry(5)andmedical(6)(7).Examplesforusinggraphicalmodelstoallowuserstocontrolrobotsoff-lineandpracticecontroltechniquescanbefoundintheRobotToyresearch(8),theKhepOnTheWebproject(9)andthe
6、WITS(WebInterfaceforTelescience)project(10).NASAdevelopedWITSforcontrollingremotevehiclesonplanetssuchasMarsandSaturn.IntheTele-Gardenproject(11),userscantendagardenthatcontainsliveplantsthroughagraphicalrepresentationoftheenvironment.TheUniversityofWesternA
7、ustralia’sTelerobotexperiment(12)providesInternetcontrolofanindustrialASEAIRB-6robotarm.ThePumaPaintproject(13)isawebsiteallowinguserstocontrolaPUMA-760robotequippedwithaparallel-fingeredgripper,toperformpaintingtasksonaneasel.Thevirtualrealityteleroboticsys
8、tem,describedinthispaperallowsaHOto:(a)performoff-linepathplanningbymanipulatinganobjectinaVRroboticscene,and(b)performon-linecontrolbyindirectlycontrollingtherealrobotthroughmanipulationofitsVR
