Cooperative control of visual displays for telemanipulationTwo cooperative control schemes for telerobot visual displays are addressed. In the first scheme, on-the-screen visual enhancements such as reference lines indicating the vertical height of the robot hand, a stick figure model of the robot hand, and its projection on the horizontal grid plane are constructed by the interactive cooperation between the human operator and the telerobotic system, and then superimposed on the video screen. Experimental results with a five-degree-of-freedom robot and a frame grabber indicate that superimposition of visual enhancements on the video screen greatly improves telemanipulation task performance. In the second scheme, the position and orientation of an object on video screens are determined interactively; these then assist the telerobotic system in executing the human operator's task-level commands autonomously.
Document ID
19890066077
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Kim, Won S. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Stark, Lawrence W. (California, University Berkeley, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Cybernetics
Meeting Information
Meeting: 1989 IEEE International Conference on Robotics and Automation