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Content Provider | IEEE Xplore Digital Library |
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Author | Moreno-Armendariz, M.A. Wen Yu |
Copyright Year | 2005 |
Description | Author affiliation: Escuela de Ingenieria, Coordinacion de Investigacion, La Salle Univ., Mexico City, Mexico (Moreno-Armendariz, M.A.) |
Abstract | Many stereo vision algorithms require that images to be very similar in appearance and that the distance between the two cameras should be small enough. Normal visual servoing of a robot manipulator needs both image information and joint velocities. In this paper we make two modifications to overcome these problems: 1) a new simple stereo vision model is proposed, 2) a fuzzy controller based only on visual information is implemented to a robot manipulator. We successfully apply our new algorithms to real-time visual servoing of an industrial robot. The stereo model proposed in this paper can also be extended to other applications, such as mobile robots, 3D reconstruction, etc. |
Sponsorship | American Automatic Control Council |
Starting Page | 3688 |
Ending Page | 3693 |
File Size | 492117 |
Page Count | 6 |
File Format | |
ISBN | 0780390989 |
ISSN | 07431619 |
e-ISBN | 0780390997 |
DOI | 10.1109/ACC.2005.1470548 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2005-06-08 |
Publisher Place | USA |
Access Restriction | Subscribed |
Rights Holder | American Automatic Control Council(AACC) |
Subject Keyword | Visual servoing Manipulators Stereo vision Robot vision systems Service robots Cameras Fuzzy control Stereo image processing Mobile robots Image reconstruction |
Content Type | Text |
Resource Type | Article |
Subject | Electrical and Electronic Engineering |
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