Photometric moments: New promising candidates for visual servoing

Bakthavatchalam, Manikandan; Chaumette, François; Marchand, Éric

doi:10.1109/icra.2013.6631326

Cited by 21 publications

(39 citation statements)

References 17 publications

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“…While PBVS may be affected by instabilities in pose estimation, IBVS designed from image points may be subject to local minima, singularity, inadequate robot trajectory and limited convergence domain, when the six degrees of freedom are controlled and when the image error is large and/or when the robot has a large displacement to achieve to reach the desired pose [3]. This is due to the Parts of this work have been presented in [1] and [2]. Manikandan Bakthavatchalam and François Chaumette are with Inria, Univ Rennes, CNRS, IRISA, Rennes, France.…”

Section: Introductionmentioning

confidence: 99%

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A Direct Dense Visual Servoing Approach Using Photometric Moments

2018

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Section: Introductionmentioning

confidence: 99%

“…Equation (7) is a general form with the only assumption that the depth is continuous. In this work however, for simplifying the analytical forms presented, only planar scenes have been considered in the modelling 1 . We will see in Section V-D that this simplification is not crucial by considering non planar environments.…”

Section: Modellingmentioning

confidence: 99%

A Direct Dense Visual Servoing Approach Using Photometric Moments

2018

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“…The solution of direct and inverse kinematics of position and speed for the structure presented in fig. 1 is available in [1,2]. Based on it the two methods of trajectory planning are proposed.…”

Section: Schematic Of the Manipulatormentioning

confidence: 99%

Planning the trajectory of manipulator gripper with a parallel structure and flexible links

Dubovskov

Valyukevich

2017

MATEC Web Conf.

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Abstract. Traditionally, the tasks of the objects transportation in working space are solved using manipulation robots with a sequential kinematic structure. However, the increasing requirements for the mechanical rigidity, load-carrying capacity, mass-size and speed parameters caused the need to develop a new classes of manipulation robots with a parallel connecting circuit. The closed kinematic scheme of such manipulators provides a more higher rigidity of the entire structure. The reduced mass of moving parts reduces the load on electric drives and thus provides an increase in manipulator gripper dynamics and the accuracy of positioning. Finally, the energy efficiency of the process increases. The problems of planning the trajectory of manipulator gripper with a parallel structure and flexible links are considered within the paper. Parallel structure manipulatorAs the name implies, a cable-driven parallel manipulator, or cable robot, is a type of parallel manipulator in which the platform is driven by a set of cables in place of traditional rigid links. These cables are sometimes referred to as tendons, or wires. A winch, consisting of a tensioning motor and spool, is used to adjust the length or tension in each cable. Coordinated retraction and extension of the cables allows for the position and orientation of the platform to be controlled. Cable-driven systems offer many advantages over traditional parallel manipulators. Replacement of the heavy prismatic actuators with relatively light cables facilitates performance at higher accelerations and allows for potentially vast workspaces. Mounting of the winches to the fixed base further reduces the system's moving inertia. Compared to the moving platform, the cables have relatively low mass and inertial properties and thus, their effects are oftentimes considered negligible -an assumption which greatly simplifies the modeling and analysis. The simple design of cable-driven robots also gives rise to a system that is reconfigurable, less expensive to construct and maintain, and easily transported, disassembled, and re-assembled.The limitations in parallel robot mechanism paved a path for the cable robots. The research was directed towards developing a mechanism that would keep the characteristics of parallel robot intact and reduce the drawbacks, especially small workspaces. The abilities of parallel robots to move with high speed and accelerations, stiff structure, high force carrying capacity were important to be kept intact.Workspace computation is an important aspect of robot design, as it gives an idea of reachability of the robot.The kind of workspace required depends largely on the application of the system. As discussed in [6] of the paper, there are many ways to analyse the workspace of a robot. The force feasible workspace approach is adopted for this study as it is based primarily on the force values. A feasible workspace is considered as a set of positions and orientations of a robot in which the EEs are controllable, tensions in cables are positive, ...

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“…The authors claimed that using this set of features it is possible to avoid binary image or spatial segmentation steps, liberating thus the visual servoing process from the crutches of image processing and feature tracking. Bakthavatchalam et al (2013) also proves that with photometric moments a large convergence domain is obtained. The analytical form of the interaction matrix was also developed in closed form for these features.…”

Section: Luminance/photometric Featuresmentioning

confidence: 76%

“…In Bakthavatchalam et al (2013), authors proposed a new type of visual features for visual servoing, coined as photometric moments. The authors claimed that using this set of features it is possible to avoid binary image or spatial segmentation steps, liberating thus the visual servoing process from the crutches of image processing and feature tracking.…”

Section: Luminance/photometric Featuresmentioning

confidence: 99%

Multi-Rate Visual Feedback Robot Control

Galbis¹,

Ernesto²

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Photometric moments: New promising candidates for visual servoing

Cited by 21 publications

References 17 publications

A Direct Dense Visual Servoing Approach Using Photometric Moments

A Direct Dense Visual Servoing Approach Using Photometric Moments

Planning the trajectory of manipulator gripper with a parallel structure and flexible links

Multi-Rate Visual Feedback Robot Control

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