Title :
Image moments based visual control algorithm for servoing systems
Author :
Copot, Cosmin ; Burlacu, Adrian ; Lazar, Corneliu
Author_Institution :
Dept. of Autom. Control & Appl. Inf., Gh. Asachi Tech. Univ. of Iasi, Iasi, Romania
Abstract :
In this paper an approach to visual control robot manipulator using image moments is presented. The main part of any image based control system, the interaction matrix, is derived using image moments. A Matlab implementation of the image based control algorithm, tests and validation are presented. Stages were conducted using synthetic images and also real ones. An ABB robot with 6 degrees of freedom and an eye-in-hand camera configuration was considered to run the experiments in real time. The results show that the image moments have high performance in visual servoing applications.
Keywords :
manipulators; mathematics computing; robot vision; visual servoing; ABB robot; Matlab; eye-in-hand camera configuration; image moment; interaction matrix; visual control robot manipulator; visual servoing system; Automatic control; Cameras; Control systems; Error correction; Informatics; Manipulators; Motion control; Robot control; Robot vision systems; Visual servoing; features; image moments; interaction matrix; visual servoing;
Conference_Titel :
Intelligent Computer Communication and Processing, 2009. ICCP 2009. IEEE 5th International Conference on
Conference_Location :
Cluj-Napoca
Print_ISBN :
978-1-4244-5007-7
DOI :
10.1109/ICCP.2009.5284768
