Design and Experiment of Semi-Autonomous Operation Platform Assisted by Teleoperation

In view of the shortage of manpower in complex and dangerous environment, a system configuration of semiautonomous teleoperation equipment which contains a master terminal, a slaver terminal and networks was put forward. In the slave terminal, a binocular vision camera was used for extracting the scope and contours of the objects on the platform. And a three-degree-of-freedom (DOF) force sensor was adopted to detect the force acting on the end effect of the robot or machine tool. The whole platform was controlled by a computer in which some Lab Viewalgorithms and Python algorithms were implemented. In the master terminal, a joystick was connected to a computer for obtaining the posture of the operator. The force and visual information generated from the force sensor and visual sensor in the remote platform was feedback to the master terminal through a local Ethernet. On the other side, the orders given by the operator to assist the remote platform was also transmitted through the same networks. An experiment testbed was established for verifying the proposed semi-autonomous teleoperation system. The experiment results show that the proposed scheme and measures are feasible in some certain.