DocumentCode
2061660
Title
Stable 3-D visual servoing: an experimental comparison
Author
Moreno, Marco A. ; Yu, Wen ; Poznyak, Alexander S.
Author_Institution
Escuela de Ingenieria, Laboratorio de Investigacion y Desarrollo de Tecnologia Avanzada, Univ. La Salle, Mexico
fYear
2001
fDate
2001
Firstpage
218
Lastpage
223
Abstract
We propose a new 3-D visual servoing method. By using Lyapunov theorem, we conclude that this 3-D visual servoing approach is stable with some uncertainties. The experimental comparison of 3-D vision is realized by a manipulator A465 and a pair of Pulnix TM-72EX CCD analog cameras. The 3D algorithm has been checked experimentally
Keywords
robot vision; servomechanisms; stability; 3D vision; Lyapunov theorem; Pulnix TM-72EX CCD analog cameras; manipulator A465; stable 3-D visual servoing; Cameras; Charge coupled devices; Charge-coupled image sensors; Jacobian matrices; Robot kinematics; Robot vision systems; Robotics and automation; Service robots; Stability; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location
Mexico City
Print_ISBN
0-7803-6733-2
Type
conf
DOI
10.1109/CCA.2001.973867
Filename
973867
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