A sensitivity analysis for a remote vision-guided robot arm under imprecise supervisory control

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Conference Proceeding

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This paper presents a study regarding the sensitivity of a vision-based control method known as camera-space manipulation to inaccuracies in the specified target objectives. For the application considered, the target objectives represent the image-plane appearance of a common 3D physical space point in the cameras that participate in the task. Inaccurate or incompatible target objectives are present because of the nature in which this information is relayed to the robot system from a remote operator. Therefore, a simulation-based sensitivity analysis is presented and discussed with respect to the level of terminal positioning precision that can be achieved in light of the incompatible target objectives. ©2005 Copyright SPIE - The International Society for Optical Engineering.

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Proceedings of SPIE - The International Society for Optical Engineering