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- Publisher Website: 10.1109/ICRA.2017.7989511
- Scopus: eid_2-s2.0-85027992886
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Conference Paper: Set space visual servoing of a 6-DOF manipulator
Title | Set space visual servoing of a 6-DOF manipulator |
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Authors | |
Issue Date | 2017 |
Publisher | IEEE, Computer Society. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639 |
Citation | Proceedings of 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 29 May-3 June 2017, p. 4422-4428 How to Cite? |
Abstract | This article develops a set space visual servoing method that is quiet different from state-of-the-art approaches. Our approach does not require complex image processing techniques for the extraction, matching and tracking of image features. Instead, it only requires a simple matching algorithm and builds visual errors in set space. Each error is mainly related to one degree of freedom of the camera; therefore, we can design a decoupled control law. This control law is robust and does not require calibrated inner parameters of the camera. Our approach has been validated in 4-degree-of-freedom (DOF) visual servoing simulations with common image patterns and 6-DOF visual servoing experiments with specific image patterns. These visual servoing tasks are properly achieved even when partial occlusions occur. |
Persistent Identifier | http://hdl.handle.net/10722/261617 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Liu, C | - |
dc.contributor.author | Chen, R | - |
dc.contributor.author | Xu, J | - |
dc.contributor.author | Zhao, J | - |
dc.contributor.author | Chen, H | - |
dc.contributor.author | Xi, N | - |
dc.contributor.author | Chen, K | - |
dc.date.accessioned | 2018-09-28T04:44:45Z | - |
dc.date.available | 2018-09-28T04:44:45Z | - |
dc.date.issued | 2017 | - |
dc.identifier.citation | Proceedings of 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 29 May-3 June 2017, p. 4422-4428 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/261617 | - |
dc.description.abstract | This article develops a set space visual servoing method that is quiet different from state-of-the-art approaches. Our approach does not require complex image processing techniques for the extraction, matching and tracking of image features. Instead, it only requires a simple matching algorithm and builds visual errors in set space. Each error is mainly related to one degree of freedom of the camera; therefore, we can design a decoupled control law. This control law is robust and does not require calibrated inner parameters of the camera. Our approach has been validated in 4-degree-of-freedom (DOF) visual servoing simulations with common image patterns and 6-DOF visual servoing experiments with specific image patterns. These visual servoing tasks are properly achieved even when partial occlusions occur. | - |
dc.language | eng | - |
dc.publisher | IEEE, Computer Society. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639 | - |
dc.relation.ispartof | IEEE International Conference on Robotics and Automation | - |
dc.rights | IEEE International Conference on Robotics and Automation. Copyright © IEEE, Computer Society. | - |
dc.title | Set space visual servoing of a 6-DOF manipulator | - |
dc.type | Conference_Paper | - |
dc.identifier.email | Xi, N: xining@hku.hk | - |
dc.identifier.authority | Xi, N=rp02044 | - |
dc.identifier.doi | 10.1109/ICRA.2017.7989511 | - |
dc.identifier.scopus | eid_2-s2.0-85027992886 | - |
dc.identifier.hkuros | 292798 | - |
dc.identifier.spage | 4422 | - |
dc.identifier.epage | 4428 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 1050-4729 | - |