Remote control of robot arms via network by force-free control followed template matching

摘要

Continuous advancements and rapid developments of electronics, computing, network and web technologies have been much concerned in recent period of time. The emerging technologies including teleoperation, communication and control via web, visual servo control and so forth, have induced high motivation and demand towards the researchers who belong to conventional control and robotics. In this research, teleoperation and template matching techniques are applied to control the motion of industrial robot arms remotely via network. The system has two motion control behaviors; rough motion of the robot arm is handled by teleoperation technique and accurate motion is governed by visual template matching. Two behaviors are switched, from one to another appropriately according to the desired motion. The effectiveness of the proposed methodology is verified by the experimental results.