Abstract
We have developed a teleoperation system for robot-arm manipulation based on virtual environment. The virtual environment for manipulating the robot arm is constructed by measuring the 3D positions of the objects around the robot arm. The 3D position is estimated by using two-planes method based on camera images captured by the CCD camera on the arm. In this study, the precision of this 3D-measurement is evaluated through experiments and also by using a theoretical model. This system is applied to the experiment of Peg-in-hole practice.
