Name
Abstract | ||
|---|---|---|
The authors investigate the selection of image features to be used to control visually the position and orientation (pose) of the end-effector of an eye-in-hand robot relative to a workpiece. A resolved-motion-rate control scheme is used to update the robot's pose on the basis of the position of three features in the camera's image. The selection of these three features depends on the condition and sensitivity of the differential relationship between the image features and the control parameters. Both computer simulations and laboratory experiments on a PUMA robot arm were conducted to verify the performance of the feature selection criteria. Experimentally, the PUMA robot arm, with a CCD (charged-coupled device) camera mounted on its end effector, was able to track a randomly moving carburetor gasket with a visual feedback cycle time of 70 ms |
Year | DOI | Venue |
|---|---|---|
1989 | 10.1109/ROBOT.1989.100086 | Scottsdale, AZ |
Keywords | Field | DocType |
attitude control,computerised pattern recognition,computerised picture processing,industrial robots,position control,servomechanisms,70 ms,CCD camera,PUMA robot arm,carburetor gasket,computer simulations,computer vision,end-effector,eye-in-hand robot,image feature selection,orientation control,pattern recognition,position control,resolved-motion-rate control scheme,robot manipulator,visual servoing | Computer vision,Feature selection,Feature (computer vision),Control engineering,Automatic control,Robot end effector,Visual servoing,Artificial intelligence,Engineering,Robot,Programmable Universal Machine for Assembly,Arm solution | Conference |
Volume | Issue | Citations |
1989 | 1 | 21 |
PageRank | References | Authors |
14.48 | 2 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Feddema, J.T. | 1 | 33 | 26.49 |
| C. Lee | 2 | 21 | 14.48 |
| Mitchell, O.R. | 3 | 21 | 14.48 |
| Lee, C.S.G. | 4 | 639 | 114.68 |