Title :
A Vision Open-Loop Visual Servoing
Author :
Gao, Cheng ; Li, Fei ; Xu, Xin He
Author_Institution :
Coll. of Inf. Sci. & Eng., Northeastern Univ., Shenyang
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;
Conference_Titel :
Machine Learning and Cybernetics, 2006 International Conference on
Conference_Location :
Dalian, China
Print_ISBN :
1-4244-0061-9
DOI :
10.1109/ICMLC.2006.258420
