An improvement on a teleoperation system of robot arm with visual servo mechanism by target selection

摘要

This research is concerned with an improvement on a teleoperation system of robot arm with visual servo mechanism by target selection. The teleoperation system considered in this research is mainly divided into operational side and working side. In the operational side, the command to realize the rough motion of the working robot arm in the working side is generated manually by using not only a robot arm but also a joystick. Web cameras are introduced for the human operator to grasp the circumstance around the working robot arm. The generated command in the operational side is transmitted into the working side through the Internet. The visual servo mechanism is also considered to realize the accurate motion of the working robot arm by a USB camera. In the vision system, the position of a target object is specified to generate the command for the accurate motion by template matching technique with an image obtained from the mouse dragging during operation. Experimental results are shown to confirm the effectiveness of the teleoperation system.