Title :
Visual servoing of 8-DOF arm for mobile robot platform
Author :
Lee, Kwang-Hee ; Kim, Do-Eun ; Lee, Sang Hwa ; Lee, Young-Ho ; Kuc, Tae-Yong
Author_Institution :
Dept. of Electron. & Electr. Eng., SungKyunKwan Univ., Suwon
Abstract :
This paper suggests the control technique that end-effector of manipulator can chase an object using an image gained from a stereo camera installed in a mobile robot platform and the camera positioned at the end of redundant manipulator in a wide working space. By using the stereo camera for searching the object in the wide working space, it is controlled to enable the end-effector of manipulator to approach the object. When the image of object is inputted to the camera equipped in end-effector, the manipulator is operated by reducing a position error between end-effector and object. Servo control system is verified through inter-layerpsilas autonomous navigation experiment using the mobile robotpsilas elevator with 8 DOF robot arms.
Keywords :
end effectors; mobile robots; object detection; redundant manipulators; robot vision; stereo image processing; visual servoing; 8-DOF arm; inter-layer autonomous navigation; manipulator end-effector; mobile robot platform; object image gain; object searching; redundant manipulator; servo control system; stereo camera; visual servoing; Cameras; Control systems; Elevators; Manipulators; Mobile robots; Orbital robotics; Robot kinematics; Robot sensing systems; Robot vision systems; Visual servoing; object tracking; robot manipulator; stereo vision; visual servoing;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694459
