NDLI: Vision based position control of a robot manipulator using wavelet based feature extraction

Content Provider	IEEE Xplore Digital Library
Author	Kwang-Ho Park Hwan-Jin Cho Chang-Doo Kee Sang-Hwa Jeong
Copyright Year	2001
Description	Author affiliation: Dept. of Mech. Eng., Chonnam Nat. Univ., Kwangju, South Korea (Kwang-Ho Park)
Abstract	In this paper, we present a novel technique for wavelet based corner detection as image feature points in a planar object for aligning a robot gripper with the object. Wavelets are suitable for the detection of sharp changes and locations of high curvature points to analyze local features in signals. In order to extract feature points for vision based position control, the polygonal approximation method is employed, which is composed of local maxima extracted from the wavelet transform of the object contour signals. These image features are used as final targets to guide the eye-in-hand robotic system to attain the desired orientation and height from which the gripping action can be executed. Experiment results for FARA robot are presented to show the applicability of this approach.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	237
Ending Page	242
File Size	398380
Page Count	6
File Format	PDF
ISBN	0780370902
DOI	10.1109/ISIE.2001.931789
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-06-12
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Position control Robot vision systems Manipulators Object detection Computer vision Grippers Wavelet analysis Signal analysis Feature extraction Approximation methods
Content Type	Text
Resource Type	Article

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