绘图机器人化身的自主与遥操作控制
Autonomous and Teleoperation Control of a Drawing Robot Avatar
AI总结：
本文提出一种绘图机器人化身的控制框架，通过自动化辅助任务减少用户负担，并引入新方法在运动约束下计算近最优相机位姿以提升视觉反馈质量，实验证明其有效改善了绘图性能。
摘要：
绘图机器人化身是一种允许基于临场感绘图的机器人系统，使用户能够远程控制机械臂并从远程位置实时创作绘图。提出的控制框架旨在通过自动化次要或辅助任务来减少用户工作量和所需先验知识，从而提高双臂机器人临场感质量。引入的新方法在考虑运动约束的情况下，根据视觉反馈质量为附带的eye-to-hand相机计算近最优的笛卡尔末端执行器位姿。通过使用实现的机器人化身进行绘制参考形状的用户研究，并与固定和遥操作的相机位姿条件进行比较，证明了其有效性。我们的结果表明，提出的控制框架提供了更好的视觉反馈质量和绘图性能。
英文摘要：
A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve bimanual robot telepresence quality by reducing the user workload and required prior knowledge through the automation of secondary or auxiliary tasks. The introduced novel method calculates the near-optimal Cartesian end-effector pose in terms of visual feedback quality for the attached eye-to-hand camera with motion constraints in consideration. The effectiveness is demonstrated by conducting user studies of drawing reference shapes using the implemented robot avatar compared to stationary and teleoperated camera pose conditions. Our results demonstrate that the proposed control framework offers improved visual feedback quality and drawing performance.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
