Accession Number : ADA257113


Title :   Stereo Vision Controlled Bilateral Telerobotic Remote Assembly Station


Descriptive Note : Final rept. 1991-1992


Corporate Author : NAVAL ACADEMY ANNAPOLIS MD


Personal Author(s) : Dewitt, Robert L


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a257113.pdf


Report Date : 08 May 1992


Pagination or Media Count : 66


Abstract : The objective of this project was to develop a bilateral six degree- of- freedom telerobotic component assembly station utilizing remote stereo vision assisted control. The component assembly station consists of two Unimation Puma 260 robot arms and their associated controls, two Panasonic miniature camera systems, and an air compressor. The operator controls the assembly station remotely via kinematically similar master controllers. A Zenith 386 personal computer acts as an interface and system control between the human operator's controls and the Val II computer controlling the arms. A series of tasks, ranging in complexity and difficulty, was utilized to assess and demonstrate the performance of the complete system. Robot Vision; Robots - Motion; Robots - Control systems Manipulators (Mechanism); Degree of freedom.


Descriptors :   *ROBOTICS , *INTERFACES , *COMPUTER VISION , CONTROL , CONTROL SYSTEMS , COMPUTERS , MOTION , MICROCOMPUTERS , COMPRESSORS , AIR COMPRESSORS , MANIPULATORS , ASSEMBLY , VISION , CAMERAS , ROBOTS , AIR , HUMANS , STATIONS


Subject Categories : Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE