Title :
Visual servoing in ISAC, a decentralized robot system for feeding the disabled
Author :
Bishay, M. ; Cambron, M.E. ; Negishi, K. ; Peters, R.A. ; Kawamura, Kazuhiko
Author_Institution :
Dept. of Electr. & Comput. Eng., Vanderbilt Univ., Nashville, TN, USA
Abstract :
ISAC is a distributed robotic feeding system for the physically disabled. This paper describes a visual servoing system which enables ISAC´s robot arm to grasp an object. The servo control loop is defined. The image to world coordinate transform is deduced. A three-phase visual servoing algorithm which balances speed with complexity is described. A technique for compensating for network delays is presented. The results of 200 trials are analyzed. A success rate of 91% was achieved
Keywords :
computational complexity; decentralised control; handicapped aids; image sensors; path planning; robot vision; ISAC; complexity; decentralized robot system; distributed robotic feeding system; network delays; physically disabled; servo control loop; visual servoing; world coordinate transform; Cameras; Distributed computing; Grippers; Intelligent robots; Optical wavelength conversion; Physics computing; Robot kinematics; Robot vision systems; Servosystems; Visual servoing;
Conference_Titel :
Computer Vision, 1995. Proceedings., International Symposium on
Conference_Location :
Coral Gables, FL
Print_ISBN :
0-8186-7190-4
DOI :
10.1109/ISCV.1995.477024
