Abstract:

In order to remedy the disadvantages of the existing virtual fixtures,namely the inflexibility of design,the splicing roughness of geometric model and the insufficiency of early warning,a dynamic generation algorithm of the security pipe is proposed based on the finite element,and the dynamic expansion algorithm of the security extension pipe as well as the dynamic generation algorithm of the early warning pipe is also presented. Then,a case study is carried out to verify the proposed algorithm. The results show that the designed security extension pipe can be extended to avoid dynamic obstacles and can alarm when the robot runs across the security extension pipe,and that the designed early warning pipe can dynamically shrink according to the robot’s jitter and can alarm when the robot runs across the early warning pipe. It is thus concluded that the proposed dynamic generation algorithm helps to improve the safety and accuracy of robotic teleoperation because it can generate virtual fixtures with early warning function according to the paths in real time.

Key words: robot, teleoperation, virtual fixture, early warning