Development of Vision-based Teleoperation System with Application to Band Attachment.

摘要

We are studying an intelligent vision-based teleoperation system, which does several works around a telephone pole. This system has following two features for a low cost and a high reliability. One is that this system has several special exchangeable work modules, which have suitable structures for each work. The other is that we do not aim to realize a full automatic system but a half automatic one, that is occasionally supported by the operator. Moreover, a control software is based on GUI (Graphic User Interface) and easy for the operator to instruct the system intuitively.In this paper, we treat a work, where a metallic band is attached to a telephone pole, and describe a new band that has a new structure and is suitable for our teleoperation system, a new work module for attaching the band to the telephone pole, a basic configuration of the teleoperation system and a vision-based method for making the work module attached to a robot end-effector achieve a desired position of the telephone pole and attaching the band. We evaluated the precision of the positioning task by doing experiments of attaching the band repeatedly.