NDLI: Non-delayed visual tracking of hand-eye robot for a moving target object

Content Provider	IEEE Xplore Digital Library
Author	Ito, M. Shibata, M.
Copyright Year	2009
Description	Author affiliation: Department of Electrical and Mechanical Engineering, Seikei University, Tokyo, Japan (Ito, M.; Shibata, M.)
Abstract	This paper presents a non-delayed visual tracking method of a hand-eye robot for a moving target object. The hand-eye robot is constructed from a three degrees of freedom planar manipulator and a single charged-coupled device (CCD) camera that is mounted on the end-effector. The control objective is to keep the target object around the center of the image plane. In many conventional image-based visual servo methods, it is always assumed that the target object is static. Consequently, the visual tracking delay arises when the target object is moving. Although we have already proposed a non-delayed visual tracking method for a moving target object, this method is developed only for a stereo vision robot with two CCD cameras. Therefore, this paper presents such a visual tracking method for the hand-eye robot. The effectiveness of our proposed method is shown by an experiment.
Starting Page	4035
Ending Page	4040
File Size	419147
Page Count	6
File Format	PDF
ISBN	9784907764340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Target tracking Robot vision systems Cameras Robot kinematics Robot sensing systems Manipulators Charge coupled devices Charge-coupled image sensors Jacobian matrices Visual servoing hand-eye robot vision-based control visual servoing moving target object eye-in-hand configuration
Content Type	Text
Resource Type	Article

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