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Título del libro: Proceedings Of The Ieee International Conference On Control Applications
Título del capítulo: A simple approach for 2D visual servoing

Autores UNAM:
MARCO ANTONIO ARTEAGA PEREZ;
Autores externos:
Idioma:
Inglés
Año de publicación:
2009
Palabras clave:

Camera parameter; Cartesian coordinate; Complete system; Computer screens; Control algorithms; Control objectives; Image coordinates; Image plane; Robot controls; Simple approach; Velocity observers; Algorithms; Cameras; Visual servoing

Resumen:

Visual servoing is a useful approach for robot control. It is specially attractive when the control objective can be stated directly in image coordinates like in point-to-point regulation. In this work, we proposed a control algorithm which allows to specify the desired final position through the computer screen and which requires for implementation only joint and image coordinates, while a velocity observer for the last ones is designed. Since a map between both coordinates is not employed, the knowledge of camera parameters is not necessary. This is achieved by adapting a control algorithm designed originally to work in Cartesian coordinates to a version which uses image coordinates instead. It is assumed that the robot is planar and the camera fixed, so that the image plane is parallel to the manipulator workspace. Experimental results show the good performance of the complete system. © 2009 IEEE.

Entidades citadas de la UNAM:
Fuente:


ISBN:
9781424446025
Editorial:

Tipo de producto:
Conference Paper



DOI:
10.1109/CCA.2009.5280965