Publication Date:
2019-06-28
Description:
Because of the continually changing environment of a space station, visual feedback is a vital element of a telerobotic system. A real time visual servoing system would allow a telerobot to track and manipulate randomly moving objects. Methodologies for the automatic selection of image features to be used to visually control the relative position between an eye-in-hand telerobot and a known object are devised. A weighted criteria function with both image recognition and control components is used to select the combination of image features which provides the best control. Simulation and experimental results of a PUMA robot arm visually tracking a randomly moving carburetor gasket with a visual update time of 70 milliseconds are discussed.
Keywords:
MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
Type:
JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 3; p 223-233
Format:
application/pdf
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