visualservoing is very useful for navigating robots to specific positions and orientations accurately and reliably. Unfortunately, the existing methods require accurate camera calibration tasks that are troublesome. ...
详细信息
ISBN:
(纸本)9788995003848
visualservoing is very useful for navigating robots to specific positions and orientations accurately and reliably. Unfortunately, the existing methods require accurate camera calibration tasks that are troublesome. Whenever a camera is changed or intrinsic parameters become different, we should carry out camera calibration tasks. Methods in order to cope with this problem is so called self-calibration techniques. Until now, self-calibration techniques just have considered the case of static self-calibration where these estimated intrinsic parameters are not used to control the robot. Only a few researchers have recently developed the case of dynamic self-calibration where estimated intrinsic parameters are used to control the robot. In this paper, a visualservoing procedure which is performed in parallel to a self-calibration algorithm based on simplified kruppa equations is proposed. Simulation results show that estimation of both constant and varying intrinsic parameters is efficient and the the robot converge to the desired positions.
visualservoing is the most advanced topic in the field of robotics since the visual feedback provides the real time recognition of the environment. The main advantage that a controller should possess is the speed of ...
详细信息
ISBN:
(纸本)9781538607961
visualservoing is the most advanced topic in the field of robotics since the visual feedback provides the real time recognition of the environment. The main advantage that a controller should possess is the speed of operation especially controllers used in industrial applications. In this paper, a variable gain control law which is adaptive in nature is proposed which will reduce the time of convergence of image based visual servoing(IBVS) operation. A comparative study on traditional and proposed control law shows the performance of adaptive gain visualservoing for 6 DOF robot manipulator.
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