Sciences & Technologie
Volume 0, Numéro 15, Pages 83-89
2001-06-30
Error Detection By Anticipation For Vision-based Control
Authors : Zaatri A . Van Brussel H .
Abstract
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.
Keywords
Anticipatory systems, error detection, vision-based control, adaptive supervisory control, tele-robotics.
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