Vision Sharing

Vision Sharing for
Collaboratively-teleoperated Mobile Manipulators
Haoran Zhao and Zhijun Li, Senior Member, IEEE
Department of calculator Science
Shanghai Jiao Tong University
Shanghai, 200240
zhr5210@sjtu.edu.cn
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Abstractâ€"In this paper, we design the teleoperated nomadic
wheeler dealers and build a system where they atomic number 18 able to
cooperate with multiple users. The 6-DOF unstable manipulator
with 6 joints, 1 microphone, 2 cameras and 2 wheels has a broad
workspace and bendable mechanical arms as well as depose see and
hear. First, the structure of teleoperated meandering(a) manipulator is
provided and the motion reign of it is introduced. Further, the
collaboratively-teleoperated mobile manipulator is implemented
which is also the goal of our research. Based on the network
platform with Users-Server-Robots mode, both commands
canalise and multimedia data transport are realized. Therefore,
controllers could obtain the real-time remote state information
of manipulators which is called deal sharing, and get off the
control commands in time to them as feedback. Finally, several
experiments are carried out with the actual mobile manipulator
in our lab, which later has achieved the evaluate result.
Index Termsâ€"Cooperative Manipulators, Computer Vision
for Robotics and Automation, Teleoperation

I.



INTRODUCTION

T

mobile manipulator is a new-type robot
designed by us which is integrated advantages of
teleoperated camera, mobile robot and automatic arm while
simultaneously reduced their drawbacks. It has a broader
workspace and more flexible mechanical arms, even attain the
cogency of seeing and hearing. What is more, we have provided
a network system for teleoperation, so people could attain the
remote situation information and send corresponding
commands.
ELEOPERATED

Fig 1 reveals the relationship of subordination and
inheritance of teleoperated mobile manipulator. The
applications of mobile manipulators are wide-ranging, such as...If you want to get a full essay, order it on our website: Ordercustompaper.com



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