Paper Info
Title
Increasing the tracking region of an eye-in-hand system by singularity and joint limit avoidance
Abstract
A new control strategy is presented which visually tracks objects using a manipulator/camera system while simulta- neously avoiding kinematic singularities and joint limits by moving in directions along which the tracking task space is unconstrained or redundant. A manipulability measure is introduced into the visual servoing objective function in order to derive the control law. The algorithms developed have been experimentally verified on an eye-in-hand system. Results demonstrate the effectiveness of the method by showing that the tracking region of a manipulator tracking objects with planar motion can be greatly increased.
Year
DOI
Venue
1993
10.1109/ROBOT.1993.292208
Atlanta, GA
Keywords
Field
DocType
computer vision,manipulators,motion estimation,tracking,algorithms,control law,control strategy,eye-in-hand system,joint limit avoidance,manipulability measure,manipulator/camera system,planar motion,redundant,tracking region,tracking task space,unconstrained,visual servoing objective function,visual tracking
Computer vision,Control theory,Manipulator,Singularity,Tracking system,Control engineering,Planar,Visual servoing,Artificial intelligence,Motion estimation,Engineering,Kinematic singularities
Conference
Citations 
PageRank 
References 
20
2.90
8
Authors
2
Name
Order
Citations
PageRank
Bradley J. Nelson11263202.74
Khosla, P.K.2931123.84