DocumentCode
2103814
Title
Visually guided robotic tracking and grasping of a moving object
Author
Lei, Ming ; Ghosh, Bijoy K.
Author_Institution
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
fYear
1993
fDate
15-17 Dec 1993
Firstpage
1604
Abstract
Visually guided tracking and grasping of a moving object by a robot manipulator is discussed in this paper. Position-based and image-based tracking schemes are proposed. It is shown that when the motion of the object is accurately estimated, both schemes are equivalent since they are the same control problem considered in two spaces. If the image of the gripper is also available, the image-based controller can be improved to cope with the system calibration error. The tracking and grasping performance is demonstrated from simulations
Keywords
calibration; computer vision; manipulators; motion estimation; position control; tracking; calibration error; grasping; gripper; image-based controller; image-based tracking; manipulator; moving object; position-based tracking; visually guided robotic tracking; Calibration; Cameras; Grippers; Image reconstruction; Manipulators; Motion control; Motion estimation; Orbital robotics; Robot vision systems; Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location
San Antonio, TX
Print_ISBN
0-7803-1298-8
Type
conf
DOI
10.1109/CDC.1993.325458
Filename
325458
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