Object-Coordinate-Based Bilateral Control System Using Visual Information

• Nakajima Yu

  Graduate school of Science and Technology, Keio University

• Nozaki Takahiro

  Graduate school of Science and Technology, Keio University

• Oyamada Yuji

  Graduate school of Science and Technology, Keio University

• Ohnishi Kouhei

  Department of Science and Technology, Keio University

Bibliographic Information

Other Title

• 視覚情報を用いた物体座標系におけるバイラテラル制御
• シカク ジョウホウ オ モチイタ ブッタイ ザヒョウケイ ニ オケル バイラテラル セイギョ

Abstract

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 the 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 taking some of their tasks. An experiment is conducted to prove the benefit of the proposed method by using a 1-DOF master robot and a 2-DOF slave robot.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 132 (3), 374-380, 2012

  The Institute of Electrical Engineers of Japan

Keywords

• haptics
• master-slave system
• bilateral control
• computer vision
• visual servo
• posture estimation

Details

• CRID: 1390282679636300160
• NII Article ID: 10030532336
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.132.374
• BIBCODE: 2012IJTIA.132..374N
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 023555662
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I023555662
• Web Site: http://www.jstage.jst.go.jp/article/ieejias/132/3/132_3_374/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed