An Object‐Coordinate‐Based Bilateral Control System Using Visual Information

摘要

SUMMARY In the field of teleoperation, visual or tactile information obtained by the operators is restricted (e.g., limited or delayed sight) because of communication constraints. Therefore, it is difficult for the operators to operate the system. In this paper, a bilateral control system using environmental information about the position and posture of a target as obtained by a camera is proposed. The proposed method reduces the workload of the operators by assuming some of their tasks. An experiment is conducted to demonstrate the benefit of the proposed method using a 1‐ DOF master robot and a 2‐ DOF slave robot. © 2013 Wiley Periodicals, Inc. Electron Comm Jpn, 96(8): 41–49, 2013; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/ecj.11464