Stereo Vision Controlled Bilateral Telerobotic Remote Assembly Station

Abstract

The objective of this project was to develop a bilateral six degree- of- freedom telerobotic component assembly station utilizing remote stereo vision assisted control. The component assembly station consists of two Unimation Puma 260 robot arms and their associated controls, two Panasonic miniature camera systems, and an air compressor. The operator controls the assembly station remotely via kinematically similar master controllers. A Zenith 386 personal computer acts as an interface and system control between the human operator's controls and the Val II computer controlling the arms. A series of tasks, ranging in complexity and difficulty, was utilized to assess and demonstrate the performance of the complete system. Robot Vision; Robots - Motion; Robots - Control systems Manipulators (Mechanism); Degree of freedom.

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Document Details

Document Type
Technical Report
Publication Date
May 08, 1992
Accession Number
ADA257113

Entities

People

  • Robert L. Dewitt

Organizations

  • United States Naval Academy

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Artificial Intelligence
  • Basic Programming Language
  • Closed Loop Systems
  • Computer Programming
  • Computer Stereo Vision
  • Computers
  • Control Systems
  • Control Systems Engineering
  • Engineering
  • Engineers
  • Measurement
  • New York
  • Robots
  • Systems Engineering
  • United States
  • United States Naval Academy

Readers

  • Computer Science/Computer Engineering/Data Science/Digital Signal Processing.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy