3D interactive control of robotic manipulations
Refereed conference paper presented and published in conference proceedings


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AbstractRobot simulation systems have been for a long time limited to 2D input/output devices, such as keyboard and 2D graphics screen. Due to the limitation of 2D windowing environments, the simulation of robot operations relies on the 3D integration of several reduced control spaces, which is usually done manually. The manual integration process by the operator is rather costly and unnatural. This paper presents a real-time 3D interactive control system of a robot arm and hand manipulating 3D objects. Both kinematics and dynamics techniques for deriving the movement of an articulated structure like an arm or hand are discussed and experimented for interactive robotic manipulations. A hybrid approach using these algorithms for global movement and local refinement is proposed. Our experiments certainly show the effective and flexible control interface for performing the virtual robotic simulations.
All Author(s) ListSun HQ, Kwok VLH
Name of Conference5th International Conference on Computer-Aided Design and Computer Graphics (CAD/Graphics 97)
Start Date of Conference02/12/1997
End Date of Conference05/12/1997
Place of ConferenceSHENZHEN
Country/Region of ConferenceChina
Year1997
Month1
Day1
PublisherWORLD PUBLISHING CORPORATION
Pages18 - 23
ISBN7-80003-411-9
LanguagesEnglish-United Kingdom
Keywords3-D robotic manipulation; motion control; virtual reality
Web of Science Subject CategoriesComputer Science; Computer Science, Cybernetics; Computer Science, Hardware & Architecture; Computer Science, Information Systems; Computer Science, Software Engineering; Engineering; Engineering, Manufacturing

Last updated on 2020-01-04 at 02:22