Image moments based visual control algorithm for servoing systems

Author

Copot, Cosmin ; Burlacu, Adrian ; Lazar, Corneliu

Author_Institution

Dept. of Autom. Control & Appl. Inf., Gh. Asachi Tech. Univ. of Iasi, Iasi, Romania

fYear

2009

fDate

27-29 Aug. 2009

Firstpage

157

Lastpage

160

Abstract

In this paper an approach to visual control robot manipulator using image moments is presented. The main part of any image based control system, the interaction matrix, is derived using image moments. A Matlab implementation of the image based control algorithm, tests and validation are presented. Stages were conducted using synthetic images and also real ones. An ABB robot with 6 degrees of freedom and an eye-in-hand camera configuration was considered to run the experiments in real time. The results show that the image moments have high performance in visual servoing applications.

Keywords

manipulators; mathematics computing; robot vision; visual servoing; ABB robot; Matlab; eye-in-hand camera configuration; image moment; interaction matrix; visual control robot manipulator; visual servoing system; Automatic control; Cameras; Control systems; Error correction; Informatics; Manipulators; Motion control; Robot control; Robot vision systems; Visual servoing; features; image moments; interaction matrix; visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computer Communication and Processing, 2009. ICCP 2009. IEEE 5th International Conference on

Conference_Location

Cluj-Napoca

Print_ISBN

978-1-4244-5007-7

Type

conf

DOI

10.1109/ICCP.2009.5284768

Filename

5284768