Virtual reality (VR) is regarded as a useful tool for teleoperation systems and provides operators with immersive visual feedback on the robot and the environment. However, without any haptic feedback or physical constructions, VR-based teleoperation systems normally suffer from poor maneuverability, and operational faults may be caused in some fine movements. In this article, we employ mixed reality (MR), which combines real and virtual worlds, to develop a novel teleoperation system. A new system design and control algorithms are proposed. For the system design, an MR interface is developed based on a virtual environment augmented with real-time data from the task space with the goal of enhancing the operator's visual perception. To allow the operator to be freely decoupled from the control loop and offload the operator's burden, a new interaction proxy is proposed to control the robot. For the control algorithms, two control modes are introduced to improve the long-distance movements and fine movements of the MR-based teleoperation system. In addition, a set of fuzzy-logic-based methods are proposed to regulate the orientation, position, velocity, and force of the robot to enhance the system's maneuverability and address potential operational faults. A barrier Lyapunov function and a backstepping method are leveraged to design the control laws and simultaneously guarantee the system's stability under state constraints. Experiments conducted using a six-degree-of-freedom robotic arm prove the feasibility of the system.

中文翻译：

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一种新的基于混合现实的远程操作系统，用于增强远程呈现和可操作性


虚拟现实（VR）被认为是远程操作系统的有用工具，可为操作员提供有关机器人和环境的身临其境的视觉反馈。然而，由于没有任何触觉反馈或物理结构，基于VR的遥控操作系统通常可操作性较差，并且在一些精细动作中可能会导致操作故障。在本文中，我们采用结合现实和虚拟世界的混合现实（MR）来开发一种新颖的远程操作系统。提出了一种新的系统设计和控制算法。在系统设计方面，基于虚拟环境开发了MR界面，并添加了来自任务空间的实时数据，旨在增强操作员的视觉感知。为了让操作员能够自由地从控制回路中解耦并减轻操作员的负担，提出了一种新的交互代理来控制机器人。在控制算法上，引入了两种控制模式来提高基于MR的遥操作系统的长距离运动和精细运动。此外，还提出了一套基于模糊逻辑的方法来调节机器人的方向、位置、速度和力，以增强系统的可操作性并解决潜在的操作故障。利用势垒Lyapunov函数和反步方法设计控制律，同时保证系统在状态约束下的稳定性。利用六自由度机械臂进行的实验证明了该系统的可行性。