Stereo Vision Controlled Bilateral Telerobotic Remote Assembly Station
Final rept. 1991-1992
NAVAL ACADEMY ANNAPOLIS MD
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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 operators 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.