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A position based visual tracking system for a 7 DOF robot manipulator using a Kinect camera

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4 Author(s)
Indrazno Siradjuddin ; Intelligent Systems Research Center (ISRC), University of Ulster, Londonderry, Northern Ireland, United Kingdom ; Laxmidhar Behera ; T. M. McGinnity ; Sonya Coleman

This paper presents a position based visual tracking system of a redundant manipulator using a Kinect camera. Kinect camera provides 3-D information of a target object, therefore the control algorithm of the position-based visual servoing (PBVS) can be simplified, as there is no requirement to estimate a 3-D feature point position from the extracted image and the camera model. The Kalman filter is used to predict the target position and velocity. This control method is applied to a calibrated robotic system with eye-to-hand configuration. The stability analysis has been derived and real-time experiments have been carried out using a 7 DOF PowerCube manipulator from Amtec Robotic. The experimental results of both static and moving targets are presented to demonstrate and to verify the proposed position based visual tracking system performance.

Published in:

The 2012 International Joint Conference on Neural Networks (IJCNN)

Date of Conference:

10-15 June 2012