Control of Two-Wheeled Mobile Manipulator with Vision Servoing

Author

Hu Chen ; Jangmyung Lee

Author_Institution

Sch. of Electr. Eng., Pusan Nat. Univ., Pusan, South Korea

fYear

2013

fDate

26-28 July 2013

Firstpage

753

Lastpage

756

Abstract

This paper presents a method for controlling a two-wheeled mobile manipulator with visual servoing. There are three subsystems: stereo vision system, 10 DOF dual arm manipulator and two-wheeled mobile robot. The whole system can be seen as an inverted pendulum. When the robot reaches the stable state, the centroid of the whole system is in the perpendicular line of the central point of mobile robot platform and ground. The target object can be tracked using CamShift algorithm. The size, position of the object, and the distance between the object and mobile manipulator can be obtained with visual servoing. A stereo vision system with image based visual servoing (IBVS) is proposed in this paper.

Keywords

manipulators; mobile robots; nonlinear control systems; object tracking; pendulums; robot vision; stereo image processing; visual servoing; wheels; 10 DOF dual arm manipulator; CamShift algorithm; IBVS; image based visual servoing; inverted pendulum; mobile robot platform; object tracking; stereo vision system; two-wheeled mobile manipulator control; two-wheeled mobile robot; vision servoing; Conferences; Joints; Manipulators; Mobile communication; Mobile robots; Visual servoing; balance control; inverted pendulum; mobile manipulator; visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Image and Graphics (ICIG), 2013 Seventh International Conference on

Conference_Location

Qingdao

Type

conf

DOI

10.1109/ICIG.2013.155

Filename

6643769