Title :
Robotic mimicking control system
Author :
Arseneau, S.C. ; Nicholls, R.J. ; Farooq, M. ; Hopkinson, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., R. Mil. Coll. of Canada, Kingston, Ont., Canada
Abstract :
This research activity is being carried out between the Canadian Space Agency and the Royal Military College of Canada. The objective is to develop a Robotic Mimicking Control System (RMCS) to provide a more user friendly and efficient robotic controller. A video camera is used to acquire a still photograph of a model joint. The selected image is processed and a closed-form algorithm for photogrammetry is employed to determine the orientation of the model joint objects. This orientation information is passed on to the physical robotic arm. The commands are executed by the robotic arm, which enables it to imitate the orientation of the model joint
Keywords :
control system synthesis; manipulators; position control; robot vision; closed-form algorithm; efficient robotic controller; model joint image; model joint orientation imitation; orientation information; photogrammetry; robotic arm; robotic mimicking control system; video camera; Automatic control; Cameras; Control systems; Educational institutions; Iterative methods; Orbital robotics; Robot control; Robot kinematics; Robot vision systems; Robotics and automation;
Conference_Titel :
Circuits and Systems, 2001. MWSCAS 2001. Proceedings of the 44th IEEE 2001 Midwest Symposium on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-7150-X
DOI :
10.1109/MWSCAS.2001.986250
