Name
Abstract | ||
|---|---|---|
In this paper, we present an uncalibrated position-based fixed-camera Visual Servoing for robot manipulators, where the goal is to track the 3D position and orientation of the target. The stereo system with 2 USB cameras is uncalibrated with respect to the robot base frame and the transformation between them is estimated on-line while performing the task. Dynamic impedance control is designed to generate a dynamic trajectory for the robot manipulator considering the dynamic environment constraints, such as: robot singularities avoidance and (self-/obstacle-) collision avoidance. Experiments have been carried out to verify performance of the proposed system on a real industrial robot, where the calibration estimation process and handling of all uncertainties in the environment are demonstrated. Moreover the uncalibrated stereo camera system can be manually moved while performing the task in order to obtain a clearer view and the re-calibration is performed automatically and on-line. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICARCV.2014.7064604 | ICARCV |
Keywords | Field | DocType |
calibration estimation process,robot dynamics,virtual impedance control,dynamic impedance control,self-collision avoidance,visual servoing,control engineering computing,uncalibrated position-based fixed-camera visual servoing,target orientation,3d position tracking,obstacle-collision avoidance,uncalibrated stereo camera system,stereo system,uncertainty handling,cameras,dynamic trajectory,industrial robot,robot base frame,robot singularities avoidance,dynamic environment constraint,manipulators,stereo image processing,collision avoidance,usb camera,uncalibrated stereo visual servoing,robot vision,robot manipulator,robot kinematics | Stereo camera,Computer vision,Robot control,Robot calibration,Computer science,Control theory,Robot kinematics,Impedance control,Industrial robot,Artificial intelligence,Visual servoing,Robot | Conference |
ISSN | Citations | PageRank |
2474-2953 | 2 | 0.37 |
References | Authors | |
8 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Caixia Cai | 1 | 28 | 5.15 |
| Nikhil Somani | 2 | 43 | 7.34 |
| Suraj Nair | 3 | 33 | 7.58 |
| Dario Mendoza | 4 | 7 | 0.88 |
| Alois Knoll Knoll | 5 | 1700 | 271.32 |