Intelligent Visual Serving for Robotic Manipulator Control

Robotic systems and technology are being developed and applied to the important requirement of keeping mobile weapons platforms such as tanks and artillery supplied with ammunition in combat situations. While increasing the efficiency of the ammunition combat situations. While increasing the efficiency of the ammunition handling and resupply operations, adaptive robotic control technology also reduces the exposure of military personnel to hazardous environments and missions. An important capability of adaptive robotic control involves the ability to position a manipulator relative to objects of interest using sensory feedback. recent research indicates vision has advantages as the primary component of sensory feedback systems for robotic manipulator control. This proposal examines the prospects for using intelligent vision based control systems for robotic manipulators in ammunition handling, loading, and resupply operations. RedZone proposes to study and design methods of intelligent vision based servoing of robotic and telerobotic manipulators that will enhance the capabilities, adaptability, robustness, and autonomy of existing robotic controllers for tasks involving object tracking and manipulator positioning. This research would result in a preliminary design for an intelligent visual servoing robotic manipulator control technology. The technology would be modular in structure so that it can be added to existing robot control systems or integrated into new robotic and telerobotic control systems.