Cart (Loading....) | Create Account
Close category search window
 

Visual servoing of a robot manipulator using 3-D information from hand-held camera motion

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Kyoung Jin Kim ; Korea Advanced Institute of Science and Technology, Seoul, Korea ; Sang-Rok Oh ; Zeungnam Bien

A new method of visual servoing for a robot manipulator is proposed together with the method to obtain 3-dimensional information on the object in motion via a single hand-held camera. For this, a distance formula is derived by utilizing two different images sensed from the different positions lying in the same line of sight of the camera. An iterative focusing method is also developed to effectively handle the defocusing problem. Further, a visual feedback scheme for robot motion is proposed by employing the 3-dimensional information obtained from the camera motions. In the proposed technique, it is found that computation of the coordinate relationship between hand and eye system is not necessary. To show the validities of the proposed algorithms, the PUMA 560 robot system with a newly designed hand-held camera, a robot controller including VAL controller and a vision system have been utilized and tested in real-time for grasping an arbitrarily positioned object in a 3-dimensional work volume.

Published in:

Decision and Control, 1986 25th IEEE Conference on  (Volume:25 )

Date of Conference:

Dec. 1986

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.