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题名: Attractive force guided grasping for a teleoperated manipulator system based on monocular vision
作者: Hua JN(化建宁) ; Wang YC(王越超) ; Xi N(席宁)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Control and Automation
会议日期: May 30-June 1, 2007
会议地点: Guangzhou, China
会议主办者: IEEE
会议录: 2007 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-7
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 563-567
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0817-7
关键词: robot teleoperation ; force feedback ; monocular vision
摘要: A method is presented here, based on the monocular vision, to provide haptic/force information for the operator which is used to signal to the operator the posture of end effecter relative to the object to be grasped During the process of grasping, the information concerning the relative posture between the end effecter and the object is of key importance, especially when the end effecter is in the vicinity of the object. Although video information plays a major role in monitoring collision between robot and the object and fine-tuning the end effecter towards the object, the operator should make strict observations about the video images to take precautions against collision between robot and the object. As a result, operators might miss or neglect the advance notice of collision. In view of this problem, vision information obtained from a monocular camera is transformed into haptic information to which operators are more sensitive. Operators can give large master commands confidently without having to consider collision, and accordingly become released from the anxiety about the collision. At the same time, the efficiency of the telerobotic system is enhanced greatly.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8591
Appears in Collections:机器人学研究室_会议论文

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