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A decoupled image space approach to visual servo control of a robotic manipulator

Mahony, Robert; Hamel, Tarek; Chaumette, Francois

Description

An image-based visual servo control is presented for a robotic manipulator. The proposed control design addresses visual servo of 'eye-in-hand' type systems. Using a novel representation of the visual error based on a spherical representation of target centroid information along with a measure of the rotation between the camera and the target, the control of the position and orientation is decoupled. A non-linear gain introduced into the orientation feedback kinematics prevents the target image...[Show more]

dc.contributor.authorMahony, Robert
dc.contributor.authorHamel, Tarek
dc.contributor.authorChaumette, Francois
dc.coverage.spatialWashington USA
dc.date.accessioned2015-12-13T22:29:00Z
dc.date.available2015-12-13T22:29:00Z
dc.date.createdMay 11 2002
dc.identifier.isbn0-7803-7272-7
dc.identifier.urihttp://hdl.handle.net/1885/74478
dc.description.abstractAn image-based visual servo control is presented for a robotic manipulator. The proposed control design addresses visual servo of 'eye-in-hand' type systems. Using a novel representation of the visual error based on a spherical representation of target centroid information along with a measure of the rotation between the camera and the target, the control of the position and orientation is decoupled. A non-linear gain introduced into the orientation feedback kinematics prevents the target image from leaving the visual field. Semi-global convergence of the closed loop system is proved.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE International Conference on Robotics and Automation (ICRA 2002)
dc.sourceProceedings of the 2002 IEEE International Conference on Robotics and Automation
dc.subjectKeywords: Cameras; Closed loop control systems; Computer vision; End effectors; Kinematics; Position control; Robotic arms; Servomechanisms; Target centroid information; Visual error; Visual servo control; Manipulators
dc.titleA decoupled image space approach to visual servo control of a robotic manipulator
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2002
local.identifier.absfor091007 - Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
local.identifier.ariespublicationMigratedxPub4143
local.type.statusPublished Version
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.affiliationHamel, Tarek, Nice Sophia Antipolis University
local.contributor.affiliationChaumette, Francois, Universitaire de Beaulieu
local.bibliographicCitation.startpage3781
local.bibliographicCitation.lastpage3786
dc.date.updated2015-12-11T08:45:02Z
local.identifier.scopusID2-s2.0-0036059654
CollectionsANU Research Publications

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