A Pragmatic 3D Visual Servoing System
نویسندگان
چکیده
This paper presents an attractive position-based visual sewoing approach for camera-in-hand robotic systems. The major contribution of this work is in devising an elegant and pragmatic approach for 3 0 visual tracking. The proposed Modijied Smith Predictor (MSP)-DeMenthon-Horaud (DH) visual sewoing system has shown to be reliable and yielded good target tracking performance. It d@er from the other techniques found in the vast visual sewoing literature, in ifs approach for image interpretation and the introduction of a Smith-like predictor control structure to overcome the inherent vision delcy. A complete description will be made on the MSP-DH visual sewoing system. Experiments on the target tracking performance on XY planar motion using an AdeptOne robotic system are presented to illustrate the controller pevformance. Also, experimental results clearly showed the capability of the MSP-DH visual servoing system in performing 3D-dynamic visual sewoing.
منابع مشابه
Trajectory generation for obstacle avoidance of uncalibrated stereo visual servoing without 3D reconstruction
In this paper, a trajectory generator for a visual servoing system is proposed to make the system accomplish obstacle avoidance tasks in unknown environments. Using an estimated epipolar constraint, the proposed scheme can generate trajectories for the visual servoing system on the 2D image planes by a simple obstacle avoidance method without reconstructing 3D geometry. The proposed scheme is b...
متن کاملEvolving Inverse Fuzzy Models for Uncalibrated Visual Servoing in 3D Workspace
In this paper, evolving inverse fuzzy models obtained online for uncalibrated visual servoing in 3D workspace, are developed and validated in a six degrees of freedom robotic manipulator. This approach will recursively update the inverse fuzzy model based only on measurements at a given time instant. The uncalibrated approach does not require calibrated kinematic and camera models, as needed in...
متن کاملIeee Transactions on Robotics and Automation
| In this paper, we propose a new approach to vision-based robot control, called 2 1/2 D visual servoing, which avoids the respective drawbacks of classical position-based and image-based visual servoing. Contrary to the position-based visual servoing, our scheme does not need any geometric 3D model of the object. Furthermore and contrary to image-based visual servoing, our approach ensures the...
متن کاملColor-Based Visual Servoing of a Mobile Manipulator with Stereo Vision
In this study, stereo vision system is applied to visual servoing of a mobile manipulator. The robot can recognize a target and compute the 3D position of the target by using a stereo vision system. A stereo vision system enables the robot to find the position of a target without additional information while a monocular vision system needs properties such as geometric shape of a target. Many al...
متن کاملTransactions on Robotics And
| In this paper, we propose a new approach to vision-based robot control, called 2 1/2 D visual servoing, which avoids the respective drawbacks of classical position-based and image-based visual servoing. Contrary to the position-based visual servoing, our scheme does not need any geometric 3D model of the object. Furthermore and contrary to image-based visual servoing, our approach ensures the...
متن کامل