Robot arm manipulation using depth-sensing cameras and inverse kinematics

Mishra, Akhilesh Kumar; Meruvia-Pastor, Oscar

doi:10.1109/oceans.2014.7003029

Cited by 11 publications

(3 citation statements)

References 19 publications

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“…For remote control or human-assisted operation, operators can control the manipulator by deciding where to click within the interface or through keystroke inputs, which control manipulators by position and may require mapping 2-D user input to locations in 3-D space. Full 3-D representation in remote control requires interface elements that control each degree of freedom separately (e.g., control in the x-, y-, and z-axes [39]) or control the position of the end effector through inverse kinematics [40]. In general, workstations can process and display large amounts of data and complex mixed visualizations [41]- [43]; however, one constraint of workstations is providing an adequate 2-D representation of the manipulator and robot that exist in a 3-D remote environment.…”

Section: Computer Worktationsmentioning

confidence: 99%

Review of Human–Machine Interfaces for Small Unmanned Systems With Robotic Manipulators

Young

Peschel

2020

IEEE Trans. Human-Mach. Syst.

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This article reviews the human-machine interaction (HMI) technologies used for telemanipulation by small unmanned systems (SUS) with remote manipulators. SUS, including land, air, and sea vehicles, can perform a wide range of reconnaissance and manipulation tasks with varying levels of autonomy. SUS operations involving physical interactions with the environment require some level of operator involvement, ranging from direct control to goal-oriented supervision. Telemanipulation remains a challenging task for all levels of human interaction because the operator and the vehicle are not colocated, and operators require HMI technologies that facilitate manipulation from a remote location. This article surveys the human operator interfacing for over 70 teleoperated systems, summarizes the effects of physical and visual interface factors on user performance, and discusses these findings in the context of telemanipulating SUS. This article is of importance to SUS researchers and practitioners who will directly benefit from HMI implementations that improve telemanipulation performance.

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Section: Computer Worktationsmentioning

confidence: 99%

Review of Human–Machine Interfaces for Small Unmanned Systems With Robotic Manipulators

Young

Peschel

2020

IEEE Trans. Human-Mach. Syst.

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“…The additional advantage of using the virtual model is that it is much more convenient to exchange manipulators with different mechanical structures and kinematic parameters or use a different submersible vehicle for a wide range of training purposes. A virtual underwater manipulator is developed [17] for training the operator, but its fewer degrees of freedom (DOFs) may not be incorporated with a submersible vehicle. The virtual platform developed in this paper provides an operator with a low-cost, convenient, and safe training environment in which the operator practices a variety of manipulator operations and its advantages are validated by the corresponding operating and training results.…”

Section: Development Of a Virtual Platform For Telepresence Control Omentioning

confidence: 99%

Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle

Zhang

et al. 2017

IEEE Trans. Ind. Electron.

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Abstract-This paper develops a virtual platform of an underwater manipulator mounted on a submersible vehicle via the three-dimensional simulator "Webots" for teleoperation through a replica master arm. The graphical, kinematic, and dynamic models of the manipulator refer to a master-slave servo hydraulic manipulator with seven functions, consisting of six degrees of freedom and a parallel gripper, while the "Jiaolong" deep-manned submersible vehicle, operating below the sea surface down to 7000 m, is chosen as the underwater manipulator carrier. This study uses the virtual platform for training an operator to telepresence control the virtual manipulator to complete basic tasks in subsea environments. When training the operator, one has to consider uncertain external disturbances and the visual impacts that stem from subsea environments. In order to demonstrate the feasibility and effectiveness of the virtual platform, one designs two typical underwater operational tasks: grasping a marine organism sample and reaching at a given position. This paper presents the comparative studies: 1) the performances demonstrated by remotely controlling the virtual manipulator and the real manipulator; 2) the operating performances delivered by three operators before and after training when using the platform.Index Terms-Telepresence control, training an operator, underwater manipulator, virtual platform.

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“…Trainning the operator by using a real manned submersible vehicle to carry out underwater operations in the deep sea is not only exeperive, but also dangerous, so it is necessary to develop the virtual platform to realistically simulate the processes of underwater operations. However, most of the existing virtual underwater manipulators [3][4][5] used for training the operator do not incorparate with the manned submersible vehicle.…”

Section: Problem Statementsmentioning

confidence: 99%

Virtual platform of a manned submersible vehicle carrying an underwater manipulator

Zhang

et al. 2015

2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)

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In this paper, we develop a virtual platform of a manned submersible vehicle carrying an underwater manipulator to animate operation tasks under the deep sea. The models of the vehicle and the manipulator refer to the structures of the "Jiaolong" deep manned submersible vehicle and a master-slave servo hydraulic manipulator, respectively. The master-slave manipulator with 7 functions developed by Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, is able to perform operation tasks below the ocean's surface 7000 meters. The platform is a powerful multipurpose tool: First, it can be used for training an operator to telepresence operate the virtual manipulator to complete basic tasks under the deep sea by coordinating a cradle head, the manned submersible vehicle and the underwater manipulator; Second, it can be used to test or to validate motion control methods for operating the submersible and manipulator. In order to demonstrate the feasibility and effectiveness of the virtual platform, we present two typical underwater operation tasks: picking-up a rock sample and making a mark.

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Robot arm manipulation using depth-sensing cameras and inverse kinematics

Cited by 11 publications

References 19 publications

Review of Human–Machine Interfaces for Small Unmanned Systems With Robotic Manipulators

Review of Human–Machine Interfaces for Small Unmanned Systems With Robotic Manipulators

Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle

Virtual platform of a manned submersible vehicle carrying an underwater manipulator

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