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 language | English |
|---|---|
| Pages (from-to) | 403-410 |
| Number of pages | 8 |
| Journal | IEEJ Transactions on Industry Applications |
| Volume | 122 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 2002 |
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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 journal › Article
}
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
AN - SCOPUS:66549093686
VL - 122
SP - 403
EP - 410
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 4
ER -