Notification:
We are currently experiencing intermittent issues impacting performance. We apologize for the inconvenience.
By Topic

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

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

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