Visual Feedback Using Virtual Object Points In Stereo Vision Based Manipulator

Djoko Purwanto, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This paper presents a visual servoing method using the stereo camera to control the manipulator pose (position and orientation) with respect to an object pose (position and orientation). To represent the object pose with respect to cameras mounted at the end of manipulator, we use the virtual object points. Based on the translation and the rotation operation applied to a predefined template points, the virtual object points are generated. The translation operation is determined from the single feature point that represents the estimation of the object position. The rotation operation is determined from the virtual angle calculated from the difference of the object area and the reference model area. The control signal to move the manipulator is derived from the error signal between the virtual object points and its desired values. Experiments conducted on a 3-links serial planar manipulator demonstrated the performance of the proposed method.

Original languageEnglish
Pages (from-to)403-410
Number of pages8
JournalIEEJ Transactions on Industry Applications
Volume122
Issue number4
DOIs
Publication statusPublished - 2002

Fingerprint

Stereo vision
Manipulators
Feedback
Cameras
Visual servoing
Experiments

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Cite this

Visual Feedback Using Virtual Object Points In Stereo Vision Based Manipulator. / Purwanto, Djoko; Murakami, Toshiyuki; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 122, No. 4, 2002, p. 403-410.

Research output: Contribution to journalArticle

@article{a13585596b294d7596bb6b12db184fe8,
title = "Visual Feedback Using Virtual Object Points In Stereo Vision Based Manipulator",
abstract = "This paper presents a visual servoing method using the stereo camera to control the manipulator pose (position and orientation) with respect to an object pose (position and orientation). To represent the object pose with respect to cameras mounted at the end of manipulator, we use the virtual object points. Based on the translation and the rotation operation applied to a predefined template points, the virtual object points are generated. The translation operation is determined from the single feature point that represents the estimation of the object position. The rotation operation is determined from the virtual angle calculated from the difference of the object area and the reference model area. The control signal to move the manipulator is derived from the error signal between the virtual object points and its desired values. Experiments conducted on a 3-links serial planar manipulator demonstrated the performance of the proposed method.",
author = "Djoko Purwanto and Toshiyuki Murakami and Kouhei Ohnishi",
year = "2002",
doi = "10.1541/ieejias.122.403",
language = "English",
volume = "122",
pages = "403--410",
journal = "IEEJ Transactions on Industry Applications",
issn = "0913-6339",
publisher = "The Institute of Electrical Engineers of Japan",
number = "4",

}

TY - JOUR

T1 - Visual Feedback Using Virtual Object Points In Stereo Vision Based Manipulator

AU - Purwanto, Djoko

AU - Murakami, Toshiyuki

AU - Ohnishi, Kouhei

PY - 2002

Y1 - 2002

N2 - This paper presents a visual servoing method using the stereo camera to control the manipulator pose (position and orientation) with respect to an object pose (position and orientation). To represent the object pose with respect to cameras mounted at the end of manipulator, we use the virtual object points. Based on the translation and the rotation operation applied to a predefined template points, the virtual object points are generated. The translation operation is determined from the single feature point that represents the estimation of the object position. The rotation operation is determined from the virtual angle calculated from the difference of the object area and the reference model area. The control signal to move the manipulator is derived from the error signal between the virtual object points and its desired values. Experiments conducted on a 3-links serial planar manipulator demonstrated the performance of the proposed method.

AB - This paper presents a visual servoing method using the stereo camera to control the manipulator pose (position and orientation) with respect to an object pose (position and orientation). To represent the object pose with respect to cameras mounted at the end of manipulator, we use the virtual object points. Based on the translation and the rotation operation applied to a predefined template points, the virtual object points are generated. The translation operation is determined from the single feature point that represents the estimation of the object position. The rotation operation is determined from the virtual angle calculated from the difference of the object area and the reference model area. The control signal to move the manipulator is derived from the error signal between the virtual object points and its desired values. Experiments conducted on a 3-links serial planar manipulator demonstrated the performance of the proposed method.

UR - http://www.scopus.com/inward/record.url?scp=66549093686&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=66549093686&partnerID=8YFLogxK

U2 - 10.1541/ieejias.122.403

DO - 10.1541/ieejias.122.403

M3 - Article

VL - 122

SP - 403

EP - 410

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

SN - 0913-6339

IS - 4

ER -