Feature-based visual servoing of an eye-in-hand robot with improved tracking performance

Author

Jang, Won ; Bien, Zeungnam

Author_Institution

Dept. of Electr. Eng., KAIST, Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

fYear

1991

fDate

9-11 Apr 1991

Firstpage

2254

Abstract

A method is presented for using image features in servoing a robot manipulator. Specifically, the concept of a feature is mathematically defined, and the differential relationship between the robot motion and feature vector is derived in terms of a feature Jacobian matrix and its generalized inverse. The feature-based PID (proportional-integral-derivative) controller is established with three scalar gains and an n×n matrix. By means of various examples, the method of feature-based servoing of a robot proposed is proved to be very effective for conducting object-oriented robotic tasks

Keywords

matrix algebra; pattern recognition; position control; robots; servomechanisms; three-term control; Jacobian matrix; PID controller; eye-in-hand robot; feature based visual servoing; feature vector; manipulator; object oriented tasks; robot motion; scalar gains; tracking; Cameras; Feature extraction; Kernel; Layout; Machine vision; Manipulators; Orbital robotics; Robot vision systems; TV; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131966

Filename

131966