Dynamic visual servoing of robotic manipulators
This paper proposes a new controller for dynamic visual servoing of robotic manipulators. In this work the image is acquired from a CCD camera mounted on planar robotic manipulator end-effector, and processed in a standard PC based vision system in order to close the visual servoing loop with PD con...
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| creator | Sequeira Goncalves, P.J. Caldas Pinto, J.R. |
| description | This paper proposes a new controller for dynamic visual servoing of robotic manipulators. In this work the image is acquired from a CCD camera mounted on planar robotic manipulator end-effector, and processed in a standard PC based vision system in order to close the visual servoing loop with PD controllers. First, we propose an extension to dynamic visual servoing based on a pose estimation algorithm and then compare it with another Lyapunov stable controller. The proposed dynamic controller uses only information from the image and robot encoders. This approach is inspired on classical 3D visual servoing and the Jacobian transpose controller approach. An experimental setup developed for visual servoing experiments, including software and hardware is presented. Experimental results for a planar robotic manipulator are presented. |
| doi_str_mv | 10.1109/ETFA.2003.1248748 |
| format | Conference Proceeding |
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In this work the image is acquired from a CCD camera mounted on planar robotic manipulator end-effector, and processed in a standard PC based vision system in order to close the visual servoing loop with PD controllers. First, we propose an extension to dynamic visual servoing based on a pose estimation algorithm and then compare it with another Lyapunov stable controller. The proposed dynamic controller uses only information from the image and robot encoders. This approach is inspired on classical 3D visual servoing and the Jacobian transpose controller approach. An experimental setup developed for visual servoing experiments, including software and hardware is presented. 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Experimental results for a planar robotic manipulator are presented.</description><subject>Cameras</subject><subject>Charge coupled devices</subject><subject>Charge-coupled image sensors</subject><subject>Control systems</subject><subject>Jacobian matrices</subject><subject>Machine vision</subject><subject>Manipulator dynamics</subject><subject>PD control</subject><subject>Robot vision systems</subject><subject>Visual servoing</subject><isbn>9780780379374</isbn><isbn>0780379373</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2003</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj8FqAyEYhIVSaEn3AUov-wK7UX_XX48hTdpAoJf0HMyqxbK7Bt0E8vYVmmFgDgPDN4S8MtoyRvVyc9iuWk4ptIwLhUI9kEqjosWAGlA8kSrnX1okOiGlfibL99tkxtDX15AvZqizS9cYpp86-jrFU5xLNZopnC-DmWPKL-TRmyG76p4L8r3dHNafzf7rY7de7ZvAsJsbjxz8CTkqw0Bqw3ouwCoLEnrJmShIUisDBdsL6qXQVoG2nVWqkGIPC_L2vxucc8dzCqNJt-P9FvwBBQhBGA</recordid><startdate>2003</startdate><enddate>2003</enddate><creator>Sequeira Goncalves, P.J.</creator><creator>Caldas Pinto, J.R.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>2003</creationdate><title>Dynamic visual servoing of robotic manipulators</title><author>Sequeira Goncalves, P.J. ; Caldas Pinto, J.R.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-f723fb7278a1369a1c243d8d363c6214078698a3110f40f649d839d5d883797c3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2003</creationdate><topic>Cameras</topic><topic>Charge coupled devices</topic><topic>Charge-coupled image sensors</topic><topic>Control systems</topic><topic>Jacobian matrices</topic><topic>Machine vision</topic><topic>Manipulator dynamics</topic><topic>PD control</topic><topic>Robot vision systems</topic><topic>Visual servoing</topic><toplevel>online_resources</toplevel><creatorcontrib>Sequeira Goncalves, P.J.</creatorcontrib><creatorcontrib>Caldas Pinto, J.R.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Sequeira Goncalves, P.J.</au><au>Caldas Pinto, J.R.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Dynamic visual servoing of robotic manipulators</atitle><btitle>EFTA 2003. 2003 IEEE Conference on Emerging Technologies and Factory Automation. Proceedings (Cat. No.03TH8696)</btitle><stitle>ETFA</stitle><date>2003</date><risdate>2003</risdate><volume>2</volume><spage>560</spage><epage>565 vol.2</epage><pages>560-565 vol.2</pages><isbn>9780780379374</isbn><isbn>0780379373</isbn><abstract>This paper proposes a new controller for dynamic visual servoing of robotic manipulators. In this work the image is acquired from a CCD camera mounted on planar robotic manipulator end-effector, and processed in a standard PC based vision system in order to close the visual servoing loop with PD controllers. First, we propose an extension to dynamic visual servoing based on a pose estimation algorithm and then compare it with another Lyapunov stable controller. The proposed dynamic controller uses only information from the image and robot encoders. This approach is inspired on classical 3D visual servoing and the Jacobian transpose controller approach. An experimental setup developed for visual servoing experiments, including software and hardware is presented. Experimental results for a planar robotic manipulator are presented.</abstract><pub>IEEE</pub><doi>10.1109/ETFA.2003.1248748</doi></addata></record> |
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| identifier | ISBN: 9780780379374 |
| ispartof | EFTA 2003. 2003 IEEE Conference on Emerging Technologies and Factory Automation. Proceedings (Cat. No.03TH8696), 2003, Vol.2, p.560-565 vol.2 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Cameras Charge coupled devices Charge-coupled image sensors Control systems Jacobian matrices Machine vision Manipulator dynamics PD control Robot vision systems Visual servoing |
| title | Dynamic visual servoing of robotic manipulators |
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