scholarly journals Image space trajectory tracking of 6-DOF robot manipulator in assisting visual servoing

Automatika ◽  
2022 ◽  
Vol 63 (2) ◽  
pp. 199-215
Author(s):  
Megha G. Krishnan ◽  
Ashok Sankar
Keyword(s):  
Trajectory Tracking ◽  
Visual Servoing ◽  
Robot Manipulator ◽  
Image Space

Kalman Filter-Based Robot Manipulator Five-Degrees of Freedom Uncalibrated Vision Positioning

2014 ◽  
Vol 668-669 ◽  
pp. 347-351 ◽  
Author(s):  
Lang Liu ◽  
Niu Wang ◽  
Chu Zhong Yu ◽  
Da Tao Wang
Keyword(s):  
Kalman Filter ◽  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Estimation Method ◽  
Estimation Algorithm ◽  
Image Features ◽  
Image Space ◽  
Online Estimation ◽  
Vision Positioning

Robot manipulator position and posture control is a popular topic in the field of uncalibrated visual servoing, this paper presents a kalman filter-based robot manipulator five-degrees of freedom uncalibrated vision positioning method. In the case of the fixed binocular cameras and manipulator parameters are unknown; firstly, the specific point and angle image features information in the camera image space were selected in order to describe the relative pose relationship between robot manipulator ends and goals. Then, the kalman filter online estimation algorithm was applied to calculate image Jacobian matrix which is mapping relationship between image space to cartesian mission space, and vision controller was designed in the image plane realized robot manipulator five-degrees of freedom uncalibrated vision positioning control. Finally, Six-degrees of freedom robot manipulator’s five-degrees of freedom uncalibrated visual positioning Simulink model established in the Matlab environment, and the simulation result show that kalman filter online estimation method made the robot manipulator rapid convergence to the desired position and posture with high accuracy.

A nonparametric-learning visual servoing framework for robot manipulator in unstructured environments

2021 ◽  
Vol 437 ◽  
pp. 206-217
Author(s):  
Xungao Zhong ◽  
Xunyu Zhong ◽  
Huosheng Hu ◽  
Xiafu Peng
Keyword(s):  
Visual Servoing ◽  
Robot Manipulator ◽  
Unstructured Environments ◽  
Nonparametric Learning

Concepts of Augmented Image Space and Transformed Feature Space for Efficient Visual Servoing of an “Eye-in-Hand Robot”

Robotica ◽  
1991 ◽  
Vol 9 (2) ◽  
pp. 203-212 ◽  
Author(s):  
Won Jang ◽  
Kyungjin Kim ◽  
Myungjin Chung ◽  
Zeungnam Bien
Keyword(s):  
Visual Feedback ◽  
Visual Servoing ◽  
Industrial Robot ◽  
Robot Vision ◽  
Feature Space ◽  
Image Features ◽  
Image Space ◽  
Formal Definition ◽  
Computational Burden ◽  
Definition Of

SUMMARYFor efficient visual servoing of an “eye-in-hand” robot, the concepts of Augmented Image Space and Transformed Feature Space are presented in the paper. A formal definition of image features as functionals is given along with a technique to use defined image features for visual servoing. Compared with other known methods, the proposed concepts reduce the computational burden for visual feedback, and enhance the flexibility in describing the vision-based task. Simulations and real experiments demonstrate that the proposed concepts are useful and versatile tools for the industrial robot vision tasks, and thus the visual servoing problem can be dealt with more systematically.

Remote Visual Servoing of a Robot Manipulator via Internet2

2007 ◽  
Vol 49 (2) ◽  
pp. 171-187 ◽  
Author(s):  
Carmen Monroy ◽  
Rafael Kelly ◽  
Marco Arteaga ◽  
Eusebio Bugarin
Keyword(s):  
Visual Servoing ◽  
Robot Manipulator
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