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An Object‐Coordinate‐Based Bilateral Control System Using Visual Information
Author(s) -
Nakajima Yu,
Nozaki Takahiro,
Oyamada Yuji,
Ohnishi Kouhei
Publication year - 2013
Publication title -
electronics and communications in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.131
H-Index - 13
eISSN - 1942-9541
pISSN - 1942-9533
DOI - 10.1002/ecj.11464
Subject(s) - teleoperation , computer vision , computer science , object (grammar) , robot , workload , position (finance) , control (management) , field (mathematics) , sight , artificial intelligence , human–computer interaction , control engineering , engineering , mathematics , physics , finance , astronomy , pure mathematics , economics , operating system
SUMMARY In the field of teleoperation, visual or tactile information obtained by the operators is restricted (e.g., limited or delayed sight) because of communication constraints. Therefore, it is difficult for the operators to operate the system. In this paper, a bilateral control system using environmental information about the position and posture of a target as obtained by a camera is proposed. The proposed method reduces the workload of the operators by assuming some of their tasks. An experiment is conducted to demonstrate the benefit of the proposed method using a 1‐ DOF master robot and a 2‐ DOF slave robot. © 2013 Wiley Periodicals, Inc. Electron Comm Jpn, 96(8): 41–49, 2013; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/ecj.11464