Vision based virtual fixture generation for teleoperated robotic manipulation

Selvaggio, Mario; Chen, Fei; Gao, Boyang; Notomista, Gennaro; Trapani, Francesco; Caldwell, Darwin G.

doi:10.1109/icarm.2016.7606917

Cited by 18 publications

(11 citation statements)

References 16 publications

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“…Constrained movement such as following a curve or surface is also implemented with potential field. A vision based virtual fixtures generating system for robotic teleoperation was presented by Selvaggio [16]. Stereo cameras are used to provide accurate environment information which is essential to build the potential fields.…”

Section: Literature Reviewmentioning

confidence: 99%

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

Li¹,

Xiu-Tian²

2019

Int J Astronaut Aeronautical Eng

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There are a number of challenges in space exploration missions and a growing challenge is the economic and efficient removal of space debris. A number of methods have been studied in literature to remove space debris which increase rapidly. This paper presents a novel method for capturing a targeted space debris in space using a robot with redundant degrees of freedom enabled with the assistance of haptic guidance. The proposed method features transferring a null reaction torque to the base spacecraft during the operation. The robot and the endeffector is controlled and manipulated by an operator with the assistance of a haptic guidance based controller that makes the position and velocity errors converge to zero before reaching the target at a desired velocity. The proposed method is demonstrated by means of dynamic and graphic simulations using a haptic interface to drive the robot. These simulations have shown a satisfactory performance in capturing the target space debris by showing a spacecraft can be maintained stable as null reaction torque is transferred during the rendezvous and interaction between the robot and the space debris. The haptic guidance method implemented in a dynamic controller enabled an operator to perform planned tasks, whilst it still allowed a full control of the robotic manipulator by the human operator. This shows great advantages comparing to the current approaches for capturing target, where haptic assistance is not introduced or the path control is not dynamic.

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Section: Literature Reviewmentioning

confidence: 99%

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

Li¹,

Xiu-Tian²

2019

Int J Astronaut Aeronautical Eng

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“…Surprisingly, there has been not much discussion on generating virtual fixtures in real-time during the teleoperation. In [17] an initial trial for interactive virtual fixture generation was presented. The objects of the remote environment were defined as single points which enabled to associate them with virtual fixtures implemented with potential force fields.…”

Section: Introductionmentioning

confidence: 99%

“…These points were then used to define the path-based virtual fixtures for robot guidance. Both approaches presented in [17] and [13] were based on point-based interaction with the environment. Unlike in previous works, in the present paper we propose surface-based virtual fixture generation method.…”

Section: Introductionmentioning

confidence: 99%

Preliminary Study on Real-Time Interactive Virtual Fixture Generation Method for Shared Teleoperation in Unstructured Environments

Pruks

Farkhatdinov

Ryu

2018

Lecture Notes in Computer Science

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We present a method for interactively generating virtual fixtures for shared teleoperation in unstructured remote environments. The proposed method allows a human operator to intuitively assign various types of virtual fixtures on-the-fly to provide virtual guidance forces helping the operator to accomplish a given task while minimizing the cognitive workload. The proposed method augments the visual feedback image from the slave's robot video camera with automatically extracted geometric features (shapes, surfaces, etc.) computed from both depth and color video sensor attached next to the slave robot's base. The human operator can select a feature on the computer screen which is then automatically associated with a virtual haptic fixture. The performance of the proposed method was evaluated with a peg-in-hole task and the experiment showed improvements in teleoperation performance.

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“…This data is used to control robotic arms [5,6]. This approach can aid [7] or be used on-its-own to control robotic arms [8]. However, vision-based control requires high processing power to obtain data needed to control the manipulator.…”

Section: Current Trends In Robotic Arm Control Approachesmentioning

confidence: 99%

“…It consists of the base (1), three rotational joints (2,4,6), three rigid links (3, 5, 7)) and simulated end effector's tip (9). Each of its joints is equipped with a potentiometer (8) to measure the relative rotation of each link. Data is transmitted using custom designed Arduino shield.…”

Section: Robot-phantom Systemmentioning

confidence: 99%

Robotic Arm Control Using Phantom Device

Recko

2017

PAR

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Zezwala się na korzystanie z artykułu na warunkach licencji Creative Commons Uznanie autorstwa 3.0 IntroductionRobots are no longer associated solely with robotic arms, performing pre-programmed tasks in factories. We can observe a shift in focus from industrial robots towards mobile platforms. Such devices have found a broad spectrum of applications among many different areas of industry, services, and science. Thanks to their versatility, it is common to find mobile robots exploring unreachable or even hostile environments. Machines are able to withstand uneasy conditions, survive extreme temperatures and pressure, even endure high radiation, and are ideal to substitute people in even the most unfriendly places.Although advanced artificial intelligence algorithms may relieve the operator from some of his/her duties [1], it is undeniable that, humans' ability to interpret and analyse various phenomena is indispensable. That is why our emissaries, depending on the complexity of the mission, sometimes may need to be remotely controlled. To do so, the operator needs means and tools to remotely and directly control an on-board equipment. Current trends in robotic arm control approachesNumerous international researchers are focused on simplifying robotic arm control. They try to address the complexity of robot programming or its direct control using traditional means i.e. teach pedant, joysticks, even command line prompts.During research, I came across various solutions to control problem. Researchers used different methods of motion capture and its conversion into control signals for manipulators. We can distinguish two leading approaches to this issue. Non-mechanical methods are mostly based on the use of image interpretation, computer vision, and various 3D sensors. Mechanical set-ups use mechanisms that translate joints movement into control signals using rotation or shift sensors embedded in its structure. One of the aforementioned approaches is using the 3D sensor. Many researchers favour Microsoft Kinect sensor. Originally built for Xbox game console, the device is capable of tracing limbs movement in real time. This feature results in easy to interpret data that can be used to control robotic arms [2,3]. Another widely used sensor is Leap motion. This device uses infrared mesh to detect objects directly above it and capture its movement [4]. Although such solutions allow natural and intuitive control over robotic arms, they lack in precision.Another solution to the control problem is utilising computer vision. A set of cameras is placed around controlling arm. They track hand's movements, using this information computer calculates coordinates in reference space. This data is used to control robotic arms [5,6]. This approach can aid [7] or be used on-its-own to control robotic arms [8]. However, vision-based control requires high processing power to obtain data needed to control the manipulator. It is also prone to disturbances like inadequate lighting resulting in inaccurate position estimation.Dissertation ...

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Vision based virtual fixture generation for teleoperated robotic manipulation

Cited by 18 publications

References 16 publications

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

Preliminary Study on Real-Time Interactive Virtual Fixture Generation Method for Shared Teleoperation in Unstructured Environments

Robotic Arm Control Using Phantom Device

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