Controlling robot arm manipulator using image-based visual servoing without pre-depth information
This paper presents an image based visual servoing of 5 degrees-of-freedom (DOF) manipulator not knowing the depth information in advance. In general, visual servoing and plant (robot) control is constructed as single algorithm, combining feature (image) Jacobian with plant Jacobian considering plan...
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| creator | So-Youn Park Yeoun-Jae Kim Ju-Jang Lee Byung Soo Kim Alsaif, K. A. |
| description | This paper presents an image based visual servoing of 5 degrees-of-freedom (DOF) manipulator not knowing the depth information in advance. In general, visual servoing and plant (robot) control is constructed as single algorithm, combining feature (image) Jacobian with plant Jacobian considering plant dynamics. In this paper, however, we separate visual servoing from plant control. Image information obtained from camera is transformed into angle information by using forward and inverse kinematics and these values are transferred to control module in order to manipulate robot arm. The proposed control system is verified through the experiment. |
| doi_str_mv | 10.1109/IECON.2011.6119836 |
| format | Conference Proceeding |
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The proposed control system is verified through the experiment.</description><subject>Cameras</subject><subject>Estimation</subject><subject>Manipulators</subject><subject>Robot kinematics</subject><subject>Visual servoing</subject><issn>1553-572X</issn><isbn>9781612849690</isbn><isbn>1612849695</isbn><isbn>1612849717</isbn><isbn>9781612849713</isbn><isbn>9781612849720</isbn><isbn>1612849725</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkNFKwzAYhSMquM29gN7kBVrzJ23SXEqZOhjuRsG7kbTJFmmbkqQT394Nd3U4fHA4fAg9AMkBiHxar-rte04JQM4BZMX4FZoDB1oVUoC4RkspqkvnktygGZQly0pBv-7QPMZvQsqi4jBDqvZDCr7r3LDHwWufsAo97tXgxqlTyQc8xTNzvdqbTKtoWnx0cVIdjiYc_Zn9uHTwU8JjMFlrxnTAbrA-9Co5P9yjW6u6aJaXXKDPl9VH_ZZttq_r-nmTORBlytqGC6VFyduCSEu04RZoQbWVjLZKSwpMN4SD1JYWFbSWa2512TBxsqB4wxbo8X_XGWN2YzgdDr-7ix72B_yZWes</recordid><startdate>201111</startdate><enddate>201111</enddate><creator>So-Youn Park</creator><creator>Yeoun-Jae Kim</creator><creator>Ju-Jang Lee</creator><creator>Byung Soo Kim</creator><creator>Alsaif, K. 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A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Controlling robot arm manipulator using image-based visual servoing without pre-depth information</atitle><btitle>IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society</btitle><stitle>IECON</stitle><date>2011-11</date><risdate>2011</risdate><spage>3276</spage><epage>3280</epage><pages>3276-3280</pages><issn>1553-572X</issn><isbn>9781612849690</isbn><isbn>1612849695</isbn><eisbn>1612849717</eisbn><eisbn>9781612849713</eisbn><eisbn>9781612849720</eisbn><eisbn>1612849725</eisbn><abstract>This paper presents an image based visual servoing of 5 degrees-of-freedom (DOF) manipulator not knowing the depth information in advance. In general, visual servoing and plant (robot) control is constructed as single algorithm, combining feature (image) Jacobian with plant Jacobian considering plant dynamics. In this paper, however, we separate visual servoing from plant control. Image information obtained from camera is transformed into angle information by using forward and inverse kinematics and these values are transferred to control module in order to manipulate robot arm. The proposed control system is verified through the experiment.</abstract><pub>IEEE</pub><doi>10.1109/IECON.2011.6119836</doi><tpages>5</tpages></addata></record> |
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| identifier | ISSN: 1553-572X |
| ispartof | IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society, 2011, p.3276-3280 |
| issn | 1553-572X |
| language | eng |
| recordid | cdi_ieee_primary_6119836 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Cameras Estimation Manipulators Robot kinematics Visual servoing |
| title | Controlling robot arm manipulator using image-based visual servoing without pre-depth information |
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