Title :
Image-based visual servoing using position and angle of image features
Author :
Cho, Jae-Seung ; Kim, Ho-Won ; In-So Kweon
Author_Institution :
Dept. of Autom. & Design Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
fDate :
6/21/2001 12:00:00 AM
Abstract :
A new image based visual servoing using position and angle of image features is presented. The proposed method can manipulate the three-dimensional trajectory of a robot by using only the error defined in the two-dimensional image plane. Experimental results show that the proposed method has a linear trajectory for the selected one point in the gripper, and so avoids collision with the work table or other objects
Keywords :
collision avoidance; manipulators; robot vision; servomechanisms; collision avoidance; image-based visual servoing; pose error; robot gripper; three-dimensional trajectory; two-dimensional image plane;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:20010579
