Fine hand-eye coordination control of robol in parallel space

We propose a system targeted for robot application with fine handeye coordination control in parallel space. By adjusting the virtual camera, the robot which is set up with the same size compared to its real identity can be observed in arbitrary angle of view and distance. To help the operators manipulate the end claws without being confused by the direction and distance shown on screen with the according operations by hand controller, a hand-eye coordination method is used with a novel screen-based ruler invented for fine controlling. Without the on-site image of the real robot, the operators can know the exact displacement of the claws in the same scale with the movement of hands. Meanwhile, the real robot will move in the same way as the virtual robot. Experiments of object grabbing verify our system's feasibility in parallel space, in which VR provides the operators flexibility to control the robot finely without requiring to observe the real robot.