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Artificial Life and Robotics
Published in: Artificial Life and Robotics 4/2016

13-07-2016 | Original Article

Teleoperation of robot arm with position measurement via angle-pixel characteristic and visual supporting function

Authors: Yoshitaka Matsuda, Takenao Sugi, Satoru Goto, Naruto Egashira

Published in: Artificial Life and Robotics | Issue 4/2016

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Abstract

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.
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Metadata
Title
Teleoperation of robot arm with position measurement via angle-pixel characteristic and visual supporting function
Authors
Yoshitaka Matsuda
Takenao Sugi
Satoru Goto
Naruto Egashira
Publication date
13-07-2016
Publisher
Springer Japan
Published in
Artificial Life and Robotics / Issue 4/2016
Print ISSN: 1433-5298
Electronic ISSN: 1614-7456
DOI
https://doi.org/10.1007/s10015-016-0289-2

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