Telerobotic visual servoing

摘要

This paper addresses the problem of integrating the human operator with autonomous robotic visual tracking and servoing modules. A CCD camera is mounted on the end-effector of a robot and the task is to servo around a static or moving rigid target. In manual control mode, the human operator, with the help of a joystick and a monitor, commands robot motions in order to compensate for tracking errors. In shared control mode, the human operator and the autonomous visual tracking modules command motion along orthogonal sets of degrees of freedom. In autonomous control mode, the autonomous visual tracking modules are in full control of the servoing functions. Finally, in traded control mode, the control can be transferred from the autonomous visual modules to the human operator and vice versa. This paper presents an experimental setup where all these different schemes have been tested. Experimental results of all modes of operation are presented and the related issues are discussed. In certain degrees of freedom (DOF) the autonomous modules perform better than the human operator. On the other hand, the human operator can compensate fast for failures in tracking while the autonomous modules fail. Their failure is due to difficulties in encoding an efficient contingency plan.