Manipulator control by using servoing with the stereo vision

Maru, Noriaki; Kase, H.; Yamada, Shimako; Nishikawa, Atsushi; Miyazaki, Fumio

doi:10.1109/iros.1993.583889

Cited by 34 publications

(33 citation statements)

References 8 publications

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“…Recently, there have been many studies on visual servoing control schemes utilizing the visual sensors to increase the capability of the robot systems in the dynamic environments(you can find a summary in [1]). In these days, many studies focus on control schemes which make features on the image planes converge to the desired values [2][3][4][5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Visual Servoing Utilizing Zoom Mechanism.

Hosoda

Moriyama

Asada

1998

Journal of the Robotics Society of Japan

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Section: Introductionmentioning

confidence: 99%

Visual Servoing Utilizing Zoom Mechanism.

Hosoda

Moriyama

Asada

1998

Journal of the Robotics Society of Japan

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“…Prior depth estimates [4], adaptive estimation [6] or metric information on the target object (from which depth can be inferred) are common solutions to this problem. Two cameras in a stereo arrangement can be used to provide complete three-dimensional information about the environment [2], [7], [15]- [20]. Stereo-based motion control systems have been implemented using both free-standing and arm-mounted cameras, although the former arrangement is more common.…”

Section: Related Workmentioning

confidence: 99%

“…The projection of a point expressed in world coordinates to a normalized homogeneous vector is given by (16) In vector form, this is written To estimate point location from a stereo observation, (16) is rewritten in the form (17) where (18) and is (19) For two cameras, by defining and the joint system can be written (20) and it is possible to estimate as (21) Subsequently, the estimate of from is written The camera baseline is the singular region for stereo point projection.…”

Section: B Projection and Estimation Of Point And Line Featuresmentioning

confidence: 99%

A modular system for robust positioning using feedback from stereo vision

Hager

1997

IEEE Trans. Robot. Automat.

144

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Abstract-This paper introduces a modular framework for robot motion control using stereo vision. The approach is based on a small number of generic motion control operations referred to as primitive skills. Each primitive skill uses visual feedback to enforce a specific task-space kinematic constraint between a robot end-effector and a set of target features. By observing both the end-effector and target features, primitive skills are able to position with an accuracy that is independent of errors in handeye calibration. Furthermore, primitive skills are easily combined to form more complex kinematic constraints as required by different applications. These control laws have been integrated into a system that performs tracking and control on a single processor at real-time rates. Experiments with this system have shown that it is extremely accurate, and that it is insensitive to camera calibration error. The system has been applied to a number of example problems, showing that modular, high precision, vision-based motion control is easily achieved with off-the-shelf hardware.

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“…For vision-based robots, image features on the image planes are primitive descriptions of the environments. In this sense, featurebased visual servoing control is the most fundamental one for the vision-based robots in which image features are controlled to converge to the desired ones, and therefore has been focused by a number of researchers [2][3][4][5][6][7][8][9][10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

“…In most of the previous work on visual servoing, they assumed that the system structure and parameters were known [2][3][4][5][6][7], or that the parameters could be identified in an off-line process [14]. Such a controller, however, is not robust for disturbances and changes of the parameters.…”

Section: Introductionmentioning

confidence: 99%

Adaptive visual servoing for various kinds of robot systems

Hosoda

Asada

1998

Experimental Robotics V

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This paper propose an adaptive visual servoing method consisting of an on-line estimator of the robot/image Jacobian matrix and a feedback/feedforward controller for uncalibrated camera-manipulator systems. The estimator does not need a priori knowledge on the kinematic structure nor on parameters of the camera-manipulator system. The controller consists of feedforward and feedback terms to make the image features converge to the desired trajectories using the estimated results. Some experimental results are given to show the validity of the proposed method.

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Manipulator control by using servoing with the stereo vision

Cited by 34 publications

References 8 publications

Visual Servoing Utilizing Zoom Mechanism.

Visual Servoing Utilizing Zoom Mechanism.

A modular system for robust positioning using feedback from stereo vision

Adaptive visual servoing for various kinds of robot systems

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