DocumentCode
856247
Title
Online computation of feature sensitivity matrix for visual servo control of robots
Author
Kim, K. ; Jang, W. ; Bien, Z.
Author_Institution
Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Volume
24
Issue
9
fYear
1988
fDate
4/28/1988 12:00:00 AM
Firstpage
555
Lastpage
556
Abstract
For image-based visual servoing of a robot, it is necessary to determine a feature sensitivity matrix G indicating the relation between small feature changes and differential motion of the camera mounted on the robot. In this letter, a new scheme for online computation of the G matrix is proposed. The proposed scheme, which requires no knowledge of relative object position, is simple, owing to a coaxially-aligned dual camera set, and would be effective for vision-based control of manipulators or mobile robots
Keywords
feedback; robots; servomechanisms; G matrix; dual camera set; feature sensitivity matrix; image-based visual servoing; online computation; robots; small feature changes; vision-based control; visual servo control;
fLanguage
English
Journal_Title
Electronics Letters
Publisher
iet
ISSN
0013-5194
Type
jour
Filename
19566
Link To Document