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
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;
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
DOI :
10.1109/CCA.2001.973867
