DocumentCode
706348
Title
Robot visual servoing by direct image feedback
Author
Ping Jiang ; Unbehauen, R.
Author_Institution
Lehrstuhl fuer Allgemeine und Theor. Elektrotechnik, Univ. Erlangen-Nuernberg, Erlangen, Germany
fYear
1999
fDate
Aug. 31 1999-Sept. 3 1999
Firstpage
148
Lastpage
152
Abstract
This paper analyzes the robot hand-eye coordination from the view point of integration of vision and control. A new scheme of direct image feedback control is proposed. It compares the real time sampled image with the desired one and forms an error image. With this 2-D error image, The control action steers the gripper to move until the image error is eliminated. Considering the local minimum problems that arise with multimodal image error, we adopt fast simulated annealing for global searching.
Keywords
feedback; robot vision; search problems; simulated annealing; visual servoing; 2D error image; direct image feedback control; fast simulated annealing; global searching; hand-eye coordination; multimodal image error; robot visual servoing; Cameras; Feature extraction; Real-time systems; Robot kinematics; Robot vision systems; Simulated annealing; hand-eye coordination; robot; visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1999 European
Conference_Location
Karlsruhe
Print_ISBN
978-3-9524173-5-5
Type
conf
Filename
7099290
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