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Controlling robot by image-based visual servoing with stereo cameras
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- 발행기관
- 한국정보기술응용학회 바로가기
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- 간행물
- 한국정보기술응용학회 학술대회 바로가기
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- 통권
- 2005년도 6th 2005 International Conference on Computers, Communications and System (2005.11)바로가기
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- 페이지
- pp.229-232
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- 저자
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- 언어
- 영어(ENG)
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- URL
- https://www.earticle.net/Article/A166198
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원문정보
초록
- 영어
- In this paper, an image-based "approach-align -grasp" visual servo control design is proposed for the problem of object grasping, which is based on the binocular stand-alone system. The basic idea consists of considering a vision system as a specific sensor dedicated a task and included in a control servo loop, and we perform automatic grasping follows the classical approach of splitting the task into preparation and execution stages. During the execution stage, once the image-based control modeling is established, the control task can be performed automatically. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories by using the Jacobian matrix, which is proved by the Lyapunov stability theory. And we also stress the importance of projective invariant object/gripper alignment. The alignment between two solids in 3-D projective space can be represented with view-invariant, more precisely; it can be easily mapped into an image set-point without any knowledge about the camera parameters. The main feature of this method is that the accuracy associated with the task to be performed is not affected by discrepancies between the Euclidean setups at preparation and at task execution stages. Then according to the projective alignment, the set point can be computed. The robot gripper will move to the desired position with the image-based control law. In this paper we adopt a constant Jacobian online. Such method describe herein integrate vision system, robotics and automatic control to achieve its goal, it overcomes disadvantages of discrepancies between the different Euclidean setups and proposes control law in binocular-stand vision case. The experimental simulation shows that such image-based approach is effective in performing the precise alignment between the robot end-effector and the object.
목차
Abstract
1 Introduction
2 Image-based visual servoing
3 Projective alingment
4. Simulation
References
키워드
Image-based servoing; projective invariance; constanst Jacobian; real-time robot control저자
간행물 정보
발행기관
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- 발행기관명
- 한국정보기술응용학회 [The Korea Society of Information Technology Applications]
- 설립연도
- 1999
- 분야
- 사회과학>경영학
- 소개
- 본 학회는 정보기술 관련 분야의 연구 및 교류를 촉진하여 국가 및 기업정보화 발전에 공헌함을 그 목적으로 한다.
간행물
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- 간행물명
- 한국정보기술응용학회 학술대회
- 간기
- 부정기
- 수록기간
- 2001~2011
- 십진분류
- KDC 005 DDC 005
이 권호 내 다른 논문 / 한국정보기술응용학회 학술대회 2005년도 6th 2005 International Conference on Computers, Communications and System
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