DocumentCode
2552567
Title
Visual servoing in ISAC, a decentralized robot system for feeding the disabled
Author
Bishay, M. ; Cambron, M.E. ; Negishi, K. ; Peters, R.A. ; Kawamura, Kazuhiko
Author_Institution
Dept. of Electr. & Comput. Eng., Vanderbilt Univ., Nashville, TN, USA
fYear
1995
fDate
21-23 Nov 1995
Firstpage
335
Lastpage
340
Abstract
ISAC is a distributed robotic feeding system for the physically disabled. This paper describes a visual servoing system which enables ISAC´s robot arm to grasp an object. The servo control loop is defined. The image to world coordinate transform is deduced. A three-phase visual servoing algorithm which balances speed with complexity is described. A technique for compensating for network delays is presented. The results of 200 trials are analyzed. A success rate of 91% was achieved
Keywords
computational complexity; decentralised control; handicapped aids; image sensors; path planning; robot vision; ISAC; complexity; decentralized robot system; distributed robotic feeding system; network delays; physically disabled; servo control loop; visual servoing; world coordinate transform; Cameras; Distributed computing; Grippers; Intelligent robots; Optical wavelength conversion; Physics computing; Robot kinematics; Robot vision systems; Servosystems; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Vision, 1995. Proceedings., International Symposium on
Conference_Location
Coral Gables, FL
Print_ISBN
0-8186-7190-4
Type
conf
DOI
10.1109/ISCV.1995.477024
Filename
477024
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