The Robot Teleoperation System (RTS) based on telepresence, which is aided financially by the National 863 High-Tech Development Plan, was set up by the State Key Laboratory of Intelligence Technology and Systems. This system consists of three main parts: robot control, stereo vision and hand gesture tracking. The controlled robot and the operator form a closed loop, and the operator views the robot's status and the environment through the stereo vision subsystem. RTS is developed from SAROT (an intelligent assembly robot system), which is logically divided into 5 layers: real time control, monitoring and coordination, motion planning, task scheduling and task planning. The paper proposes several active "path smoothing" schemes implemented in the system, which carry out the operator's hand gesture tracking in 7 DOF (position: 3, orientation: 3, and pitch: 1).
Real time path smoothing schemes in teleoperation system
01.01.2000
459079 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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