The Master Manipulator Control System in a Master-Slave Robot Based on Trinocular Stereo Vision

Abstract

In this paper, a master manipulator control system in a master-slave robot which uses trinocular stereo vision is presented. The system utilizes three real-time cameras to identify and track the movements of the master handle, while also measuring the master handle position. The system follows a basic four step process. First, the master handle in the image is identified using the contrast between the handle and the background. Second, the speed and direction of the next position for the master handle is predicted in real-time by using the Kalman filter. Third, the position of the master handle is measured in real-time using stereo matching, which utilizes the method of combining feature matching and region gray matching to consistently identify the markers on the master handle and eliminate error matching. The experimental results in this study conclude that the master-handle manipulator control system is fast and exact.