Remote operation system of robot arm with visual servo mechanism by target selection

被引：0
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作者：
机构：
[1] Matsuda, Yoshitaka
[2] Tsukamoto, Kenta
[3] Matsumoto, Takeo
[4] Goto, Satoru
[5] Sugi, Takenao
[6] Egashira, Naruto
来源：
| 1600年 / ICIC International卷 / 10期
关键词：
Visual servoing - Pneumatic control equipment - Robotic arms - Servomotors;
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摘要：
This paper proposes a remote operation system of robot arm employing the visual servo control based on template matching technique and forcefree control. The system mainly consists of operational side and working side. The working side has three cameras: one is equipped on the tip of working robot arm, the others are placed near the working robot arm to assist the human operator by capturing the environment. The template image for visual servo control is acquired by dragging a mouse on the image with target object, and then the working robot arm is governed by visual servo control. The size of template image is changed corresponding to the distance between working robot arm and target. The effectiveness of the proposed remote operation system was verified by experiments using actual robot arms. © 2014 ICIC International.
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