error: could not find USB device "USBasp" with vid=0x16c0 pid=0x5dc

Trying to upload a sketch using a USBasp programmer ( Ctrl+Shift+U ).

The IDE attempts to upload the sketch with:

/usr/share/arduino/hardware/tools/avrdude -C/usr/share/arduino/hardware/tools/avrdude.conf -v -v -v -v -patmega328p -cusbasp -Pusb -Uflash:w:/tmp/build1369312702588283912.tmp/Blink.cpp.hex:i

I received the error message

avrdude: Warning: cannot query manufacturer for device: error sending control message: Operation not permitted
avrdude: error: could not find USB device "USBasp" with vid=0x16c0 pid=0x5dc

The problem appears to be related to permissions. If I open a terminal window and copy and paste the command prefixing it with 'sudo' then it will work. However, this is inconvenient.

What is the 'official' solution?