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

Abdul Muis, Kouhei Ohnishi

研究成果: Paper査読

7 被引用数 (Scopus)

抄録

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.

本文言語English
ページ647-652
ページ数6
出版ステータスPublished - 2004 7月 12
イベントProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
継続期間: 2004 3月 252004 3月 28

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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