A visual supporting system for teleoperation of robot arm using visual servo control

摘要

In this research, a visual supporting system for the teleoperation of a robot arm using visual servo control is developed. The supporting system is constructed by improving an existing teleoperation system developed by the authors, where the purpose of the existing teleoperation system was to realize an exact motion of robot arm by an autonomous control using visual servo and a rough motion of teleoperation. First, the command generation mechanism used for the manual operation is simplified. Secondly, a function of displaying information of the distance about the target object on the image obtained from vision system is added. Furthermore, the detection result is also displayed on the image. Experiments using an actual robot arm were conducted to verify the effectiveness of the proposed supporting system.