Title :
Robot Positioning Using Camera-Space Manipulation With a Linear Camera Model
Author :
Juan Manuel Rendon-Mancha;Antonio Cardenas;Marco A. Garcia;Emilio Gonzalez-Galv?n;Bruno Lara
Author_Institution :
Facultad de Ciencias, Universidad Autó
Abstract :
This paper presents a new version of the camera-space-manipulation method (CSM). The set of nonlinear view parameters of the classic CSM is replaced with a linear model. Simulations and experiments show a similar precision error for the two methods. However, the new approach is simpler to implement and is faster.
Keywords :
"Robot vision systems","Cameras","Robot kinematics","Robot control","Calibration","Manipulators","Orbital robotics","Computational modeling","Image reconstruction","Computer errors"
Journal_Title :
IEEE Transactions on Robotics
DOI :
10.1109/TRO.2010.2050518
