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首页> 外文期刊>Artificial life and robotics >Teleoperation of robot arm with position measurement via angle-pixel characteristic and visual supporting function
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Teleoperation of robot arm with position measurement via angle-pixel characteristic and visual supporting function

机译：通过角度像素特性和视觉支持功能进行位置测量的机械臂遥操作

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摘要

In this paper, a teleoperation system of a robot arm with position measurement function and visual supporting function is developed. The working robot arm is remotely controlled by the manual operation of the human operator and the autonomous control via visual servo. The visual servo employs the template matching technique. The position measurement is realized using a stereo camera based on the angle-pixel characteristic. The visual supporting function to give the human operator useful information about the teleoperation is also provided. The usefulness of the proposed teleoperation system is confirmed through experiments using an industrial articulated robot arm.
机译：本文开发了一种具有位置测量功能和视觉支持功能的机械臂遥操作系统。机器人的工作臂由操作员的手动操作进行远程控制，并通过视觉伺服进行自主控制。视觉伺服采用模板匹配技术。使用基于角度像素特性的立体摄像机来实现位置测量。还提供了视觉支持功能，可为操作员提供有关远程操作的有用信息。通过使用工业铰接式机械臂进行的实验证实了所提出的远程操作系统的有用性。

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  • 来源
    《Artificial life and robotics》 |2016年第4期|478-485|共8页
  • 作者

    Yoshitaka Matsuda; Takenao Sugi; Satoru Goto; Naruto Egashira;

  • 作者单位

    Department of Advanced Technology Fusion, Graduate School of Science and Engineering, Saga University, 1, Honjo-machi, Saga 840-8502, Japan;

    Department of Advanced Technology Fusion, Graduate School of Science and Engineering, Saga University, 1, Honjo-machi, Saga 840-8502, Japan;

    Department of Advanced Technology Fusion, Graduate School of Science and Engineering, Saga University, 1, Honjo-machi, Saga 840-8502, Japan;

    Department of Control and Information Systems Engineering, National Institute of Technology, Kurume College, 1-1-1 Kumorino, Kurume, Fukuoka 830-8555, Japan;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Robot arm; Teleoperation; Visual servo; Angle-pixel characteristic; Visual supporting system;

    机译：机械臂遥操作;视觉伺服角度像素特性;视觉支持系统;

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