Two dimensional control for 6-DOF hand robot teleoperator

This paper proposes a two dimensional control and obstacle avoidance methods using a virtual plane in the environment where the virtual space that generates computer graphics is superimposed on the real space in which a hand robot actually exists. In the present method the human operator, having stereo scope scene given by two cameras, controls the end effector of the hand robot using only a mouse (and a cursor on the computer display), and two planes drawn in the virtual space which corresponds to the real space. That is, once the human operator, by using only the mouse, locates the arbitrary point on the virtual plane, then the controls of 3D position and pitch angle of the end effector are possible. Furthermore, obstacle avoidance in the task environment is possible by using this system. Since it has a 3D measurement system, we are able to avoid the obstacles by displaying the correlation between the virtual plane and obstacles