An Intelligent Vision-Only Operator Interface for Dexterous Robots

This paper describes the development of a vision-only intelligent interface for dexterous robots capable of tracking operator motions, analyzing trajectory feasibility, and providf6g visual feedback to the operator. This system analyse3Jhe operator’s arm motion for safety, and then converts at into trajectory commands for a mechanical arm. Potentially dangerous situations, such as singularity and self collision, are displayed to the operator as graphical icons superimposed over the robot video images. The paper summarizes the main features of the current implementation, presents the approach developed for singularity identification and characterizes the performance of the demonstration prototype.