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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Arteaga, M.A. Bueno-Lopez, M. Espinosa, A. |
| Copyright Year | 2009 |
| Description | Author affiliation: Facultad de Matemáticas. Universidad Autónoma de Yucatán. Anillo Periférico Norte Tablaje Cat. 13615 Mérida, México (Espinosa, A.) || Departamento de Control y Robótica. División de Ingeniería Eléctrica de la Facultad de Ingeniería. Universidad Nacional Autónoma de México. Apdo. Postal 70-256, 04510, México (Arteaga, M.A.; Bueno-Lopez, M.) |
| Abstract | Visual servoing is a useful approach for robot control. It is specially attractive when the control objective can be stated directly in image coordinates like in point-to-point regulation. In this work, we proposed a control algorithm which allows to specify the desired final position through the computer screen and which requires for implementation only joint and image coordinates, while a velocity observer for the last ones is designed. Since a map between both coordinates is not employed, the knowledge of camera parameters is not necessary. This is achieved by adapting a control algorithm designed originally to work in Cartesian coordinates to a version which uses image coordinates instead. It is assumed that the robot is planar and the camera fixed, so that the image plane is parallel to the manipulator workspace. Experimental results show the good performance of the complete system. |
| Starting Page | 1557 |
| Ending Page | 1562 |
| File Size | 460868 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424446018 |
| ISSN | 10851992 |
| DOI | 10.1109/CCA.2009.5280965 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-07-08 |
| Publisher Place | Russia |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Visual servoing Robot vision systems Cameras Robot kinematics Control systems Velocity control Manipulators Robot control Algorithm design and analysis Force control |
| Content Type | Text |
| Resource Type | Article |
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