DocumentCode
2187677
Title
Efficient camera-space manipulation using moments
Author
Gonzalez-Galvan, Emilio J. ; Skaar, Steven B.
Author_Institution
Dept. of Aerosp. & Mech. Eng., Notre Dame Univ., IN, USA
Volume
4
fYear
1996
fDate
22-28 Apr 1996
Firstpage
3407
Abstract
The paper introduces a new estimation approach to the method of camera-space manipulation-a robust and precise means of controlling 3-dimensional robot maneuvers using vision. This approach reduces the computational and memory burden required by the formerly used “batch” estimation approach while retaining identical results. The discussion includes actual experimental results wherein reliable, millimeter positioning precision with a 3-dimensional, rigid-body task is achieved using a very large GMF S400 robot
Keywords
least squares approximations; manipulator kinematics; parameter estimation; robot vision; 3-dimensional rigid-body task; 3-dimensional robot maneuvers; GMF S400 robot; camera-space manipulation; millimeter positioning precision; Calibration; Error correction; Image analysis; Kinematics; Recursive estimation; Robot control; Robot vision systems; Robust control; Robustness; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.509231
Filename
509231
Link To Document