Eye-to-hand approach on eye-in-hand configuration within real-time visual servoing

Abdul Muis, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

Hand-eye relation in visual servoing involves eye-in-hand and eye-to-hand configuration. Both have its own merit and drawback regarding to its precision and sight range. This paper addresses this problem and introduces the camera utilization as eye-to-hand configuration for the second robot, while it retains as eye-in-hand for the first robot. Hence, the camera becomes mobile and provides more precision and more global sight of scene. Moreover, this paper also addresses the real-time constraints within real-time vision system and real-time data exchange due to different processing units for robot and vision system. Here, a pattern design and simplified image processing are considered. This paper considers a 3D visual servoing within dynamic look and move scheme based on object pose. The system performance is validated by the experimental result.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages647-652
Number of pages6
Publication statusPublished - 2004
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

Fingerprint

Visual servoing
Robots
End effectors
Cameras
Electronic data interchange
Image processing
Processing

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Muis, A., & Ohnishi, K. (2004). Eye-to-hand approach on eye-in-hand configuration within real-time visual servoing. In International Workshop on Advanced Motion Control, AMC (pp. 647-652)

Eye-to-hand approach on eye-in-hand configuration within real-time visual servoing. / Muis, Abdul; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2004. p. 647-652.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Muis, A & Ohnishi, K 2004, Eye-to-hand approach on eye-in-hand configuration within real-time visual servoing. in International Workshop on Advanced Motion Control, AMC. pp. 647-652, Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan, 04/3/25.
Muis A, Ohnishi K. Eye-to-hand approach on eye-in-hand configuration within real-time visual servoing. In International Workshop on Advanced Motion Control, AMC. 2004. p. 647-652
Muis, Abdul ; Ohnishi, Kouhei. / Eye-to-hand approach on eye-in-hand configuration within real-time visual servoing. International Workshop on Advanced Motion Control, AMC. 2004. pp. 647-652
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