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Conference Paper: Set space visual servoing of a 6-DOF manipulator

TitleSet space visual servoing of a 6-DOF manipulator
Authors
Issue Date2017
PublisherIEEE, 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?
AbstractThis 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 Identifierhttp://hdl.handle.net/10722/261617
ISSN

 

DC FieldValueLanguage
dc.contributor.authorLiu, C-
dc.contributor.authorChen, R-
dc.contributor.authorXu, J-
dc.contributor.authorZhao, J-
dc.contributor.authorChen, H-
dc.contributor.authorXi, N-
dc.contributor.authorChen, K-
dc.date.accessioned2018-09-28T04:44:45Z-
dc.date.available2018-09-28T04:44:45Z-
dc.date.issued2017-
dc.identifier.citationProceedings of 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 29 May-3 June 2017, p. 4422-4428-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/261617-
dc.description.abstractThis 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.languageeng-
dc.publisherIEEE, Computer Society. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639-
dc.relation.ispartofIEEE International Conference on Robotics and Automation-
dc.rightsIEEE International Conference on Robotics and Automation. Copyright © IEEE, Computer Society.-
dc.titleSet space visual servoing of a 6-DOF manipulator-
dc.typeConference_Paper-
dc.identifier.emailXi, N: xining@hku.hk-
dc.identifier.authorityXi, N=rp02044-
dc.identifier.doi10.1109/ICRA.2017.7989511-
dc.identifier.hkuros292798-
dc.identifier.spage4422-
dc.identifier.epage4428-
dc.publisher.placeUnited States-

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