Vision-based end-effector alignment assistance for teleoperation

The limitations in the accuracy of sensing and image processing technology have prohibited purely autonomous modes of task execution in complex environments, while manual operation can be tedious and require skilled operators. A recently developed method of combining human and machine control to provide assistance to the operator by variably mapping velocity commands using uncertain sensor data is briefly reviewed. The new concept is used with processed visual information from an end-effector camera to provide assistance in alignment of the end-effector with an object to be grasped. Commanded velocities parallel to the image plane are variably mapped depending on the slave position and orientation and camera image. An experiment using a cross-shaped target was conducted, and results demonstrate the increase in efficiency of task completion and reduction of operator fatigue and skill requirements