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
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;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509231
