Title :
Visually guided robotic tracking and grasping of a moving object
Author :
Lei, Ming ; Ghosh, Bijoy K.
Author_Institution :
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Abstract :
Visually guided tracking and grasping of a moving object by a robot manipulator is discussed in this paper. Position-based and image-based tracking schemes are proposed. It is shown that when the motion of the object is accurately estimated, both schemes are equivalent since they are the same control problem considered in two spaces. If the image of the gripper is also available, the image-based controller can be improved to cope with the system calibration error. The tracking and grasping performance is demonstrated from simulations
Keywords :
calibration; computer vision; manipulators; motion estimation; position control; tracking; calibration error; grasping; gripper; image-based controller; image-based tracking; manipulator; moving object; position-based tracking; visually guided robotic tracking; Calibration; Cameras; Grippers; Image reconstruction; Manipulators; Motion control; Motion estimation; Orbital robotics; Robot vision systems; Tracking;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325458
