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Robust object tracking of robot manipulator using low-cost vision system

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2 Author(s)
Wong-Gie Han ; Agency for Defense Dev., Naval Weapon Syst. R&D Center, KynungNam, South Korea ; Tae-Yong Kuc

Proposes a robust visual servoing scheme for robot manipulator with eye-in-hand camera configuration. To perform the tasks defined in the image plane, the velocity Jacobian matrix is used to transform the camera motion to the object position change. In addition, a dynamic learning controller is designed to improve the tracking performance of robotic system. The proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system without the dynamic control loop in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc

Published in:

Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

11-14 Oct 1998