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We demonstrate that millimeter-level bimanual manipulation accuracy can be achieved without the static camera registration typically required for visual servoing. We register multiple cameras online, converging in seconds, by visually tracking features on the robot hands and filtering the result. Then, we compute and track continuous-velocity relative workspace trajectories for the end-effector. We...
To assist operators in precise teleoperation tasks within complex environments, assistance autonomous modules are required. A semi-autonomous path planning module that provides a reliable direction for the operators, is of paramount of importance in this field. This paper proposes a novel assisted method using a fixed camera for guiding the operator to control the manipulator remotely. The method...
This paper presents a new method how to detect a robotic arm's position. The robotic arm has blue squares glued on key parts (on joints). A camera with color detection software can detect the blue squares and this way detecting the whole robotic arm. If we join the detected colored squares with straight lines, we can create the skeleton of the robotic arm. The color detection is made with special...
This paper presents the robotic arm recognition in space. The method uses special markings to detect the robotic arm in space. These markings are placed in key parts of the robotic arm, at the joints, over each motor, this way to detect the robot's movement. This movement detection method is similar what when person's movements are recorded to create a computer game with human movement or when sportsmen's...
An image-based strategy visual servo control via Hamiltonian approach for a binocular camera-in-hand robotic system is considered. A new Hamiltonian realization is designed for the visual servo control systems which consider the dynamics of the robotic systems. The designed system can be modeled as a port-controlled Hamiltonian (PCH) system. We give the stability analysis about the PCH system. Simulation...
This paper describes a development of a tracked mobile robot that consists of two tracks and two arms. A rescue robot should be able to not only move and explore in a disaster area but also complete handling tasks by itself. A tracked mobile robot with two 4-degrees-of-freedom arms was developed in this study. The robot can remove an obstacle or handle a target object in its movement by using one...
Teleoperation system using past image records (SPIR) is a system that provides the third-person view image to the operator for the robot operation. The image is visually generated by overlaying the CG model of the robot on the background image taken by the robot-mounted camera at a past time. In this paper, we proposed a new user interface based on SPIR for the teleoperation of a mobile manipulator...
The ability of robotic systems to effectively address disaster scenarios that are potentially dangerous for human operators is continuing to grow as a research and development field. This leverages research from areas such as bimanual manipulation, dexterous grasping, bipedal locomotion, computer vision, sensing, object segmentation, varying degrees of autonomy, and operator control/feedback. This...
Difficulties arise in the micro-assembly of many irregular objects and in the insertion with contact between components of soft materials. To handle these problems, we design a micro-operational platform with multiple manipulators to facilitate a sequence of assembly. Six robot arms and three microscopes are incorporated, together with macro and micro motion systems. We also propose a hybrid control...
Deep-sea master-slave hydraulic manipulator is among most commonly tools equipped on remotely-operated vehicles or human occupied vehicles. The design and realization of a 7-Function master-slave hydraulic manipulator can be used in 7000 meters depth is proposed. Linear actuator, rotary actuator and cycloid motor are the three basic modules of the slave arm. A double-screw-pair swing rotary actuator...
In this work we propose a new technique to manipulate a robotic arm which uses a depth camera to capture the user input and inverse kinematics to define the motion of the robotic arm. The presented technique is inexpensive to implement and easier to learn as compared to the current methods. Along with the easier manipulation of the robotic arm, the presented approach also adds some simple speech and...
In this paper we present a system for humanrobot cooperation where a flexible beam is handled by a human and robot. We use a vision based state estimator to coordinate the robot with the human. The state estimator is based on particle filtering, and the dynamical behaviour of the flexible beam is described by a finite element model, more specifically the absolute nodal coordinate formulation. We present...
One standard procedure in minimally invasive surgery is the endoscopic submucosal dissection (ESD), where neoplastic mucosa is being removed. The standard endoscopes and flexible instruments currently used in everyday routine have limited maneuverability and are controlled in an unintuitive manner. To overcome these drawbacks we propose a telemanipulation system capable of independently controlling...
Performance of a robotic system depends o n the mathematical model that is programmed within the software of the robot. Usually the mathematical model of a robot is calculated by the designer and is re-calibrated during the time of operation. Model of the robot is essential for its software to take intelligent actions. Equipping the robot with the capability to self model will help itself to re-correct...
Unmanned Aerial Vehicles (UAVs) offer a means to vastly expand a manipulator's reach. Mounting an arm to a UAV greatly increases the utility of both the arm and the UAV.
A novel image based visual servoing (IBVS) method under the predictive control frame is proposed in order to solve the visual tracking problem of robot manipulator with multiple constraints. A vision predictive frame is presented by employing the motion model between camera's velocity and image features. And the design step of vision predictive controller is presented. Then, an effective vision predictive...
We shall present a robotic arm control method with stereo vision. No too many robots in the industry are controlled with a camera and the robots which are controlled with two or more cameras are even harder to find. We made a vision recognition application which can recognize certain key points on the robotic arm. These points are placed at the joints, over each motor. These points have different...
A manipulator which enables noncontact control of the position and attitude of an object on a plane by controlling a fluid field is proposed. The manipulator comprises 2 boards with grid pattern arrangements of holes and a parallel link robot which is capable of translational motion with 2 degrees of freedom and rotational motion with 1 degree of freedom in a plane. Air jets are discharged from the...
The microscope has characteristics of a planar vision with small view field and small view depth. For micro operation systems with multiple manipulators, the handling of irregular objects may lead to a nonorthogonal microscopic system, which needs to focus on clear viewing interested features, and it may also hardly locate the exact position and posture of the robot arms. In view of these, this paper...
In this paper, we address the set-point deformation control of elastic objects by fully-constrained grippers. We propose an uncalibrated Lyapunov-based algorithm that iteratively estimates the deformation Jacobian matrix, with no prior knowledge of the deformation and camera models. With this new method we show how, by combining pose information of the grippers with several visual measurements, we...
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