Structured light system for teleautonomous and telecollaborative manipulation

Young Soo Park; Hyosig Kang; Thomas F. Ewing

doi:10.1117/12.516019

30 September 2003 Structured light system for teleautonomous and telecollaborative manipulation

Young Soo Park, Hyosig Kang, Thomas F. Ewing

Proceedings Volume 5264, Optomechatronic Systems IV; (2003) https://doi.org/10.1117/12.516019
Event: Photonics Technologies for Robotics, Automation, and Manufacturing, 2003, Providence, RI, United States

Abstract

This paper addresses the implementation of sensory basis to support enhanced teleoperation. By adopting multiple structured light systems, each of which consists of a camera and patterned beam projector, the sensor basis supposedly provides an added level of flexibility and adaptability to variable and unstructured task conditions. The technological innovations include calibration of multiple structured light systems and on-line 3D pose measurement. The application of sensory basis is demonstrated for two types of enhanced teleoperation, namely tele-autonomy and tele-collaboration. The sensory information aids in tele-autonomy by generating autonomous motions, and is utilized in tele-collaboration for generating virtual fixtures.

Citation Download Citation

Young Soo Park, Hyosig Kang, and Thomas F. Ewing "Structured light system for teleautonomous and telecollaborative manipulation", Proc. SPIE 5264, Optomechatronic Systems IV, (30 September 2003); https://doi.org/10.1117/12.516019

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