Teleoperation system for a mobile robot arm with visual servomechanism based on turning radius determination using angle information of image

被引：6

作者：

Matsuda, Yoshitaka ^{[1
]}

Tagami, Noboru ^{[2
]}

Sugi, Takenao ^{[1
]}

Goto, Satoru ^{[1
]}

Egashira, Naruto ^{[3
]}

机构：

[1] Saga Univ, Fac Sci & Engn, Dept Elect & Elect Engn, 1 Honjo Machi, Saga 8408502, Japan

[2] Saga Univ, Grad Sch Sci & Engn, Dept Adv Technol Fus, 1 Honjo Machi, Saga 8408502, Japan

[3] Kurume Coll, Natl Inst Technol, Dept Control & Informat Syst Engn, 1-1-1 Komorino, Kurume, Fukuoka 8308555, Japan

来源：

ARTIFICIAL LIFE AND ROBOTICS | 2019年 / 24卷 / 01期

关键词：

Teleoperation; Mobile robot; Visual servo; Turning radius; Angle-pixel characteristics; REMOTE OPERATION SYSTEM;

D O I：

10.1007/s10015-018-0455-9

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper considers the development of a teleoperation system for a mobile robot arm with visual servomechanism. The robot to be operated mainly consists of a mobile robot and a robot arm with USB camera. The robot is teleoperated according to the control command which is generated by combining the manual operation with the autonomous control via the vision system based on the USB camera images. In this paper, a control method of determining the turning radius of the mobile robot is proposed based on the angle information of image corresponding to the error of a target position from the reference one. To evaluate the proposed teleoperation system, experiments of pressing a button were conducted by using an actual robot. It was verified from the experimental results that sufficiently high success rate of teleoperation could be obtained by the proposed method.

引用

页码：106 / 113

页数：8

共 16 条

[1]

Bradski Gary, 2008, Learning OpenCV: Computer Vision in C++ with the OpenCVLibrary

[2] Robotic assembly of smartphone back shells with eye-in-hand visual servoing [J].

Chang, Wen-Chung .

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2018, 50 :102-113

[3]

Choi HJ, 2009, ARTIF LIFE ROBOT, V14, P578, DOI 10.1007/s10015-009-0750-6

[4]

Fang, 2014, IFAC PAPERSONLINE, V47, P11878, DOI [10.3182/20140824-6-ZA-1003.01791, DOI 10.3182/20140824-6-ZA-1003.01791]

[5]

Goto S, 2010, ROBOT MANIPULATORS T, P321

[6] Development of Hands-Free Remote Operation System for a Mobile Robot Using EOG and EMG [J].

Goto, Satoru ;

Yano, Osamu ;

Matsuda, Yoshitaka ;

Sugi, Takenao ;

Egashira, Naruto .

ELECTRONICS AND COMMUNICATIONS IN JAPAN, 2017, 100 (10) :38-47

[7] A tutorial on visual servo control [J].

Hutchinson, S ;

Hager, GD ;

Corke, PI .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1996, 12 (05) :651-670

[8] Human direct teaching of industrial articulated robot arms based on force-free control [J].

Daisuke Kushida ;

Masatoshi Nakamura ;

Satoru Goto ;

Nobuhiro Kyura .

Artificial Life and Robotics, 2001, 5 (1) :26-32

[9] Teleoperation system for a mobile robot with visual servo mechanism based on automatic template generation [J].

Matsuda Y. ;

Sugi T. ;

Goto S. ;

Egashira N. .

Artificial Life and Robotics, 2017, 22 (04) :490-496

[10] Teleoperation of robot arm with position measurement via angle-pixel characteristic and visual supporting function [J].

Matsuda Y. ;

Sugi T. ;

Goto S. ;

Egashira N. .

Artificial Life and Robotics, 2016, 21 (04) :478-485

← 1 2 →