Collision Risk Assessment and Operation Assistant Strategy for Teleoperation System

Teleoperation robots remain superior to fully automated in complicated and unstructured environments (e.g., in-orbit assembly). However, the collision risk is also greatly increased these environments. Therefore, teleoperation robot should possess capability of perception be configured with security assistance strategy improve safety efficiency. With this objective mind, paper proposes a assessment system based on fuzzy theory, which comprehensively considers effects shortest distance, operation speed, delay time. The introduction theory makes results more accurate. Furthermore, creative discrete expandable bounding box method make calculation nearest distance between obstacles efficient faster. Secondly, efficiency teleoperation, set strategies for risk. include partial view highlighting, variation motion mapping ratio, haptic warning, all are achieved graphical interactive interface. Finally, verifies proposed model assistant through experiments. show that has correct trend factors, can effectively reduce robots. In conclusion, research contributes obstacle avoidance