Adaptive servo visual robot control

Simulation of Position Based Visual Control and Performance Tests of 6R Robot

This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...

Adaptive Calibration and Control of 2 Dmonocular Visual Servo

For a majority of visual servo systems, accurate camera{robot calibration is essential for precision tasks, such as tracking time{varying end{eeector trajectories in the image plane. This paper presents details of control{theoretic approaches to calibration of monocular visual servo systems in the case of a planar robot with workspace perpendicular to the optical axis of the imaging system. An ...

Dynamic Visual Servo Control cf Robots : A n Adaptive Image - Based Approach

Visual Impedance Using 1ms Visual Feedback System

We introduce visual impedance, a new scheme for vision based control which realizes task-level dynamical robot control using a Ims m“sualfeedback system. This method is simply described as applying image features to the impedance equation so that integration of a visual servo and a conventional servo system can be naturally accomplished. With visual impedance, an adaptive motion is obtained for...

Autonomous robotic capture of non-cooperative target by adaptive extended Kalman filter based visual servo

This paper presents a real-time, vision-based algorithm for the pose and motion estimation of non-cooperative targets and its application in visual servo robotic manipulator to perform autonomous capture. A hybrid approach of adaptive extended Kalman filter and photogrammetry is developed for the real-time pose and motion estimation of noncooperative targets. Based on the pose and motion estima...