2019/06/04 by Manuel Bandala, Craig West, Stephen Monk +2 · 1 citation
Engineering · #Artificial intelligence #Computer science #Computer vision #Control engineering #Dual (grammatical number) #Engineering #Joystick #Object (grammar) #Orientation (vector space) #Position (finance) #Robot #Robot Manipulation and Learning #Robotic arm #Simulation #Soft Robotics and Applications #Task (project management) #Teleoperation and Haptic Systems #Visual servoing
paper · pdf · doi:10.3390/robotics8020042
openalex publication_date 2019/06/04 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/30
This article investigates visual servoing for a hydraulically actuated dual-arm robot, in which the user selects the object of interest from an on-screen image, whilst the computer control system implements via feedback control the required position and orientation of the manipulators. To improve on the current joystick direct tele-operation commonly used as standard in the nuclear industry, which is slow and requires extensive operator training, the proposed assisted tele-operation makes use of a single camera mounted on the robot. Focusing on pipe cutting as an example, the new system ensures that one manipulator automatically grasps the user-selected pipe, and appropriately positions the second for a cutting operation. Initial laboratory testing (using a plastic pipe) shows the efficacy of the approach for positioning the manipulators, and suggests that for both experienced and inexperienced users, the task is completed significantly faster than via tele-operation.