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Teleoperation system for a mobile robot arm with visual servomechanism based on turning radius determination using angle information of image

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Abstract

This paper considers the development of a teleoperation system for a mobile robot arm with visual servo mechanism. The robot to be operated mainly consists of a mobile robot and a robot arm with USB camera. The robot is teleoperated according to the control command which is generated by combining the manual operation with the autonomous control via the vision system based on the USB camera images. In this paper, a control method of determining the turning radius of the mobile robot is proposed based on the angle information of image corresponding to the error of a target position from the reference one. To evaluate the proposed teleoperation system, experiments of pressing a button were conducted by using an actual robot. It was verified from the experimental results that sufficiently high success rate of teleoperation could be obtained by the proposed method.

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Author information

Authors and Affiliations

  1. Department of Electrical and Electronic Engineering, Faculty of Science and Engineering, Saga University, 1 Honjo-machi, Saga, 840-8502, Japan

    Yoshitaka Matsuda, Takenao Sugi & Satoru Goto

  2. Department of Advanced Technology Fusion, Graduate School of Science and Engineering, Saga University, 1 Honjo-machi, Saga, 840-8502, Japan

    Noboru Tagami

  3. Department of Control and Information Systems Engineering, National Institute of Technology, Kurume College, 1-1-1 Komorino, Kurume, Fukuoka, 830-8555, Japan

    Naruto Egashira

Authors
  1. Yoshitaka Matsuda
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  2. Noboru Tagami
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  3. Takenao Sugi
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  4. Satoru Goto
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  5. Naruto Egashira
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Corresponding author

Correspondence to Yoshitaka Matsuda.

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Matsuda, Y., Tagami, N., Sugi, T. et al. Teleoperation system for a mobile robot arm with visual servomechanism based on turning radius determination using angle information of image. Artif Life Robotics 24, 106–113 (2019). https://doi.org/10.1007/s10015-018-0455-9

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  • DOI: https://doi.org/10.1007/s10015-018-0455-9

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