Human-Machine Cooperative Manipulation With Vision-Based Motion Constraints
نویسنده
چکیده
This paper discusses a class of control algorithms that provide enhanced physical dexterity by imposing passive motion constraints. Such motion constraints are often referred to as virtual xtures. It is shown that algorithms originally designed for vision-based control of manipulators can be easily converted into control algorithms that provide virtual xtures. As a result it is possible to create advanced human-machine cooperative manipulation systems that take complete advantage of information provided by vision, yet permit the user to retain control of essential aspects of a given task.
منابع مشابه
Manipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach
Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...
متن کامل3D Hand Motion Evaluation Using HMM
Gesture and motion recognition are needed for a variety of applications. The use of human hand motions as a natural interface tool has motivated researchers to conduct research in the modeling, analysis and recognition of various hand movements. In particular, human-computer intelligent interaction has been a focus of research in vision-based gesture recognition. In this work, we introduce a 3-...
متن کاملEffect of virtual fixture compliance on human-machine cooperative manipulation
In this paper, we present experiments to determine the e ect of di erent virtual xture compliance levels in a human-machine cooperative manipulation system. Subjects used the JHU Steady Hand Robot with vision-based virtual xtures to perform three common tasks: curve following, o -path targeting, and object avoidance. The virtual xtures provided di erent levels of guidance to the operator, rangi...
متن کاملVision Assisted Control for Manipulation using Virtual Fixtures: Experiments at Macro and Micro Scales
We present the design and implementation of a visionbased system for micron-scale, cooperative manipulation of a surgical tool. The system is based on a control algorithm that implements a broad class of guidance modes called virtual xtures. A virtual xture, like a real xture, limits the motion of a tool to a prescribed class or range. The implemented system uses vision as a sensor for providin...
متن کاملVision-Guided Robotic Fabric Manipulation
This paper describes methods pertaining to the vision-guided robotic control of fabric motion for performing simulated joining operations for apparel manufacturing. The determination of robot motion paths is based on visual information defining the position of the fabric edges in world coordinates. The usefulness of the shape analysis and motion control algorithms is demonstrated via experiment...
متن کامل