NDLI: A Hybrid Visual Servo System Considering the Workspace Boundary Singularity

Content Provider	IEEE Xplore Digital Library
Author	Do Hyoung Kim Myung Jin Chung
Copyright Year	2006
Description	Author affiliation: Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon (Do Hyoung Kim; Myung Jin Chung)
Abstract	Robotic systems like humanoid frequently move to undesirable pose while being visually controlled at the boundary of its workspace, because the working environment is quite huge as compared with the robot's workspace. The main objective of this paper is to deal with problems occurring at the boundary of the robot's workspace. In addition, current typical problems on IBVS and PBVS, e.g., control in 2D and 3D space, task singularity, robustness to camera and robot calibration error, and robot singularity will be considered. To achieve the objective, the proposed two-stage visual servo system consists of exploring and positioning stages. In the exploring stage, given camera parameters, the target pose of the camera is estimated from the obtained images without the knowledge of the object. In the next positioning stage, a new hybrid control law that moves the camera equipped to a robot end-effector to around the target pose, which is estimated in the first stage and then positions it to the target pose more accurately using IBVS is proposed. Although the target pose is located out of the robot's workspace, the proposed visual servo system shows the proper behavior at the boundary of its workspace. Finally simulation and experimental results shows the feasibility of the proposed visual servo system
Starting Page	2338
Ending Page	2344
File Size	9546648
Page Count	7
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282643
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Servomechanisms Cameras Robot vision systems Visual servoing Robot kinematics Orbital robotics Intelligent robots Control systems Humanoid robots Robust control view synthesis hybrid visual servo camera pose estimation
Content Type	Text
Resource Type	Article

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