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Telerobotic part assembly with shared visual servo control

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3 Author(s)
Ethier, S. ; Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada ; Wilson, William J. ; Hulls, C.

This paper examines the use of shared control in performing part assembly operations with a telerobotic system. The shared control is based on the combination of operator commands and a local autonomous visual servo controller. This shared visual control permits partial automation of the telerobotic operations improving accuracy and allowing the operator to concentrate on high level decision making. The design of the methodology and experimental results of an assembly operation are presented.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

Date of Conference:

2002