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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Wei Bing Luo Xiang |
| Copyright Year | 2008 |
| Description | Author affiliation: Sch. of Mech. Eng., Southeast Univ., Nanjing (Wei Bing; Luo Xiang) |
| Abstract | Visual servoing provides a great convenience for flexible robotic systems. However, there is contradiction between enlarging the working field and improving the accuracy of manipulation. In this paper, a new position based visual servoing approach is presented to the dynamics manipulation of moving objects. The research is divided into three aspects: At first, a global-local vision tracking method is proposed. The vision system includes two cameras, one fixed in the workspace as a global visual system, the other mounted at the end-effector as a local visual system. In every sample interval, the 3D positions of feature points of objects are obtained by the two-camera stereo vision system. And a dynamic extended Kalman filter (EKF) is employed to estimate the kinetic parameters. Secondly, a biomimic motion planning algorithm of manipulator is developed. The configuration of the manipulator in our research is a 5DOF manipulator alike to the arm of human being including a 2DOF shoulder, a 1DOF elbow and a 2DOF wrist. According to the configuration, a motion planning algorithm is proposed which consists of the planning of the wrist and the orientation of the gripper. Finally, a two stages task planning including tracking stage and grasping stage is developed. Simulation results show the feasibility of this approach. |
| Starting Page | 362 |
| Ending Page | 367 |
| File Size | 3433506 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424437795 |
| DOI | 10.1109/MMVIP.2008.4749560 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2008-12-02 |
| Publisher Place | New Zealand |
| Access Restriction | Subscribed |
| Rights Holder | Intl Journal of Intelligent |
| Subject Keyword | Parameter estimation estimation and tracking trajectory planning Visual servoing Wrist Visual system Machine vision Cameras visual servoing Stereo vision Kinetic theory Robots Manipulator dynamics |
| Content Type | Text |
| Resource Type | Article |
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