A Vision Open-Loop Visual Servoing

Author

Gao, Cheng ; Li, Fei ; Xu, Xin He

Author_Institution

Coll. of Inf. Sci. & Eng., Northeastern Univ., Shenyang

fYear

2006

fDate

13-16 Aug. 2006

Firstpage

699

Lastpage

703

Abstract

Considering eye-in-hand visual servoing, a new vision open-loop system scheme is proposed, this method evades the hardness of constructing image Jacobian, and needn´t update or invert Jacobian at all time, the delay produced by low sampling rates and burden of computing is weakened, system performance is very improved. In order to verify the scheme, simulation of a 2 DOF manipulator eye-in-hand visual servoing system for positioning and tracking task is made, and results show the validity of the proposed scheme, there is the practicality. We propose the relationship among visual servoing task

Keywords

delays; end effectors; image motion analysis; mobile robots; open loop systems; position control; robot vision; tracking; DOF manipulator eye-in-hand visual servoing system; delay reduction; image Jacobian construction; system performance; vision open-loop visual servoing; Computer vision; Control systems; Image sampling; Intelligent robots; Machine vision; Open loop systems; Robot control; Robot sensing systems; Robot vision systems; Visual servoing; Image Jacobian; Manipulator; Perspective projection; Positioning; Tracking; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2006 International Conference on

Conference_Location

Dalian, China

Print_ISBN

1-4244-0061-9

Type

conf

DOI

10.1109/ICMLC.2006.258420

Filename

4028153