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Efficient camera-space manipulation using moments

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2 Author(s)
E. J. Gonzalez-Galvan ; Dept. of Aerosp. & Mech. Eng., Notre Dame Univ., IN, USA ; S. B. Skaar

The paper introduces a new estimation approach to the method of camera-space manipulation-a robust and precise means of controlling 3-dimensional robot maneuvers using vision. This approach reduces the computational and memory burden required by the formerly used “batch” estimation approach while retaining identical results. The discussion includes actual experimental results wherein reliable, millimeter positioning precision with a 3-dimensional, rigid-body task is achieved using a very large GMF S400 robot

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996