Stereoscopic triangulation control of a manipulator can be achieved by using a unique viewing system with two cameras. Knowing the vectors pointing to a target, triangulation can determine the location of the selected target. This location can then be used as a basis for manipulator control. Camera information is first collected, and then manipulated to give valid data. The approach uses a viewing system that allows the user to select objects in the camera's wide angle image being displayed on dual touch screen monitors. Knowing the characteristics of the camera, a triangulation routine can be used to calculate the location of the object in 3D space. The calculated point can then be used by the manipulator control system to move the manipulator to that point. Selecting three points can define a cylindrical volume in space. This volume can be used as an exclusion zone in which the manipulator is not allowed to maneuver. TRI has integrated the TeleMate and Omniview$+TM$/ to offer triangulation control of a manipulator.
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