2.5-D visual servoing experiment using Adept Viper s850

Author

Rahmatillah, Akif ; Trilaksono, B. Riyanto ; Hindersah, Hilwadi

Author_Institution

Sch. of Electr. Eng. & Inf., Bandung Inst. of Technol., Bandung, Indonesia

fYear

2013

fDate

7-8 Nov. 2013

Firstpage

296

Lastpage

301

Abstract

This paper describe a visual feedback control experiment for manipulator robot with camera on its hand using 2.5-D visual servoing control scheme. This scheme does not need estimate full 3D model of target object. Design of image jacobian matrix is separated between translation motion that using image based scheme and rotation motion that using position based scheme. The task of robot was approaching an object with specific desired position and orientation. A 6DOFAdept Viper s850 robot and Logitech C920 web camera are used in this experiment. An experiment architecture adapted to facilities in our lab.

Keywords

Jacobian matrices; cameras; manipulators; position control; robot vision; visual servoing; 2.5-D visual servoing control; Adept Viper s850 robot; Logitech C920 web camera; image Jacobian matrix design; manipulator robot; rotation motion; translation motion; visual feedback control experiment; Cameras; Joints; Robot kinematics; Visual servoing; Visualization; 2.5-D visual servoing; interaction matrix; manipulator robot; visual servoing; web camera;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation, Communications, Information Technology, and Biomedical Engineering (ICICI-BME), 2013 3rd International Conference on

Conference_Location

Bandung

Print_ISBN

978-1-4799-1649-8

Type

conf

DOI

10.1109/ICICI-BME.2013.6698512

Filename

6698512