Loading...
Please wait, while we are loading the content...
Similar Documents
Visual Servo Kinematic Control for Robotic Manipulators
| Content Provider | Semantic Scholar |
|---|---|
| Author | Zhu, Zheng H. |
| Copyright Year | 2018 |
| Abstract | In the last couple of decades, massive industrial application demands greatly accelerated the advances of control theories for robotic manipulator. However, the autonomous robotic capture is still facing many technical challenges. A novel visual servo kinematic control scheme for robotic manipulators to perform autonomous capture operation of a non-cooperative target is presented. An integrated algorithm of the photogrammetry and the adaptive extended Kalman filter is introduced to estimate the position and orientation of the target. In order to improve the reliability of the robotic control and to avoid the multiple solutions problem of inverse kinematics, a kinematics-based incremental control approach is adopted to control the robotic manipulator in real time. Validating experiments are performed on a custom built robotic manipulator with an eye-in-hand configuration. The experimental results demonstrate the effectiveness and robustness of the proposed control visual servo kinematic control scheme. Visual Servo Kinematic Control for Robotic Manipulators |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://www.igi-global.com/viewtitlesample.aspx?id=212058&ptid=187283&t=visual+servo+kinematic+control+for+robotic+manipulators |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Algorithm Area striata structure Autonomous robot Entity Name Part Qualifier - adopted Experiment Extended Kalman filter Increment Inverse kinematics Optic Nerve Glioma, Childhood Photogrammetry Servo Device Component Solutions Visual servoing recurrent childhood visual pathway glioma |
| Content Type | Text |
| Resource Type | Article |
