Investigation of Lighting Conditions for Teleoperation of Robot Arms by Image Processing and Force-free Control

Abstract

In this research, a teleoperation system is investigated by the viewpoint of lighting conditions. Communication channels are established by using the Internet technology. The teleoperation system consists of two different techniques. One is the force-free control (FFC), which is used to realize the passive motion of the robot arm for an external force. The other is an image processing component in which template matching (TM) techniques are adopted to realize the accurate motion by means of visual servo control. Since the template matching technology plays a vital role in our teleoperation system, it is important to investigate the behavior according to varying lighting levels. The experiments were performed to investigate the influence of lighting conditions by using actual robot arms with vision system.