Web-based teleoperation of the robot interacting with fast moving objects

Catching the moving object by a robot manipulator when controlling the robot via the Internet is considered at this paper. The object was the rod on bifilar suspension, performing complicated oscillations. Task statement and capture algorithms are presented. Shared autonomy control was used to implement the capture. Operator forms initial motion of the rod, chooses desired point for capture on the rod and capture instant. Final operation is performed automatically. Operator plans capture strategy using 3D on-line virtual model of the robot and object in its current positions. Capture operation is performed using motion prediction algorithm, based on the object's motion model. Experimental test-bed, remote control interface are presented. The particulars of the system, the experiments undertaken, current issues, and directions of the future work are discussed. Video film will demonstrate results of the work.