Name
Abstract | ||
|---|---|---|
This paper presents a practical experiment on the use of visual servoing for robotic tracking and manipu- lation of objects moving on a plane. In this work, the image is acquired from the camera mounted on the end-effector of a 6 DOF industrial robot, and processed on a standard PC-based vision system in order to close the Visual Servoing loop with a PID based controller. The PID has been implemented with a variable structure, modified according to the esti- mated velocity of the target, in order to achieve a good step response and to eliminate steady-state er- ror with a moving target. The possibility to perform a stable tracking and to estimate the target dynamics allows also to grasp the object with a prediction based trajectory planning. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/IRDS.2002.1041421 | Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference |
Keywords | Field | DocType |
industrial manipulators,microcomputer applications,optical tracking,robot vision,stability,three-term control,variable structure systems,6-DOF industrial robot,PC-based vision system,VSC,VSS,camera,end-effector,hand-eye system,prediction-based trajectory planning,robotic manipulation,robotic tracking,stable tracking,target dynamics estimation,variable structure PID based visual servoing | Machine vision,Control theory,Computer science,Control engineering,Artificial intelligence,Computer vision,Step response,Control theory,GRASP,PID controller,Industrial robot,Visual servoing,Trajectory planning | Conference |
Volume | ISBN | Citations |
1 | 0-7803-7398-7 | 1 |
PageRank | References | Authors |
0.41 | 7 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Marcello Bonfé | 1 | 66 | 12.78 |
| Elena Mainardi | 2 | 1 | 0.41 |
| Cesare Fantuzzi | 3 | 275 | 38.53 |