Means and method of robot control relative to an arbitrary surface using camera-space manipulation

摘要: A system is presented that creates vision-based, three-dimensional control of a multiple-degree-of-freedom dexterous robot, without special calibration the vision system, or any constituent parts and allows high-level human supervision direction robot. The operator uses graphical user interface (GUI) to point click on an image surface object with which robot interact. Directed at this stationary selection camera, provides for GUI, least one other camera. laser pointer panned tilted so as create, in each participating camera space, targets associated junctures has selected Camera-space manipulation used internal degrees freedom such points end member move relative way consistent desired operation. As per requirement camera-space manipulation, must have features, “cues”, known location controlled end-member points, can be located images spaces participant cameras. extended simultaneously tool orientation normal and/or user-selected directions tangent surface. various ways allow additional versatility application.