Teleoperation system for a mobile robot arm with visual servomechanism based on turning radius determination using angle information of image
This paper considers the development of a teleoperation system for a mobile robot arm with visual servo mechanism. 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 th...
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| Veröffentlicht in: | Artificial life and robotics 2019-03, Vol.24 (1), p.106-113 |
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| container_title | Artificial life and robotics |
| container_volume | 24 |
| creator | Matsuda, Yoshitaka Tagami, Noboru Sugi, Takenao Goto, Satoru Egashira, Naruto |
| description | This paper considers the development of a teleoperation system for a mobile robot arm with visual servo mechanism. 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. |
| doi_str_mv | 10.1007/s10015-018-0455-9 |
| format | Article |
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| subjects | Artificial Intelligence Computation by Abstract Devices Computer Science Control Data buses Mechatronics Original Article Robot arms Robotics Robots Servomechanisms Teleoperators Vision systems |
| title | Teleoperation system for a mobile robot arm with visual servomechanism based on turning radius determination using angle information of image |
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