ERROR DETECTION BY ANTICIPATION FOR VISION-BASED CONTROL

A ZAATRI, H VAN BRUSSEL

Résumé


A vision-based control system has been developed.  It enables a human operator to remotely direct a robot, equipped with a camera, towards targets in 3D space by simply pointing on their images with a pointing device. This paper presents an anticipatory system, which has been designed for improving the safety and the effectiveness of the vision-based commands. It simulates these commands in a virtual environment. It attempts to detect hard contacts that may occur between the robot and its environment, which can be caused by machine errors or operator errors as well.

Mots-clés


Anticipatory systems ; error detection ; vision-based control ; adaptive supervisory control ; tele-robotics

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Références


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