Vision-assisted control for manipulation using virtual fixtures

We present the design and implementation of a vision-based system for cooperative manipulation at millimeter to micrometer scales. The system is based on an admittance control algorithm that implements a broad class of guidance modes called virtual fixtures. A virtual fixture, like a real fixture, l...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 20; no. 6; pp. 953 - 966
Main Authors:	Bettini, A., Marayong, P., Lang, S., Okamura, A.M., Hager, G.D.
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.12.2004 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Admittance Algorithms Applied sciences Artificial intelligence Automata. Logic controller Computer science; control theory; systems Computer vision Control systems Control theory Control theory. Systems Exact sciences and technology Feedback Fixtures Haptic interfaces Human-machine systems Humans Manipulation Micrometers Motion control Pattern recognition. Digital image processing. Computational geometry Process control. Computer integrated manufacturing robot control Robot sensing systems Robotics Robots Sensor systems Sensors System performance Trajectories Tubes virtual fixtures Virtual reality visual servoing Computer vision Control Estimation Robotics
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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