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. Author manuscript; available in PMC: 2022 Oct 1.
Published in final edited form as: IEEE Robot Autom Lett. 2021 Jul 30;6(4):7750–7757. doi: 10.1109/lra.2021.3100937

Fig. 2.

Fig. 2.

(a) The mechanism of the spotlight is analyzed to establish the relationship between tip-to-surface distance and projection pattern. This relationship can be obtained by knowing the characteristics of the spotlight or by calibration of the spotlight pattern with the known distance of the tip-to-surface. (b) A spotlight projection tracking method is thereby developed. Based on the tracking algorithm, a visual servoing control algorithm is formulated to achieve the autonomous motion control with RCM constraint. (c) The vessel tracking task is used to verify the proposed framework using the SHER robot. The effectiveness of the proposed method is validated in comparison to both manual tracking and cooperative control tracking with the SHER.