Hybrid vision/position servo control of a robotic manipulator

Andres Castano, Seth Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The authors address a number of issues associated with visual servo control of robotic manipulators. They derive a set of projection equations that are used in the derivation of the Jacobian matrix for resolved-rate visual servo control. A calibration procedure that determines those parameters that appear in the projection equations is presented. Given the projection equations and calibration procedure, a set of equations is derived that can be used to initially position the manipulator at a specified perpendicular distance from the camera such that the tool center of the end effector projects onto a specified pixel on the image plane. A Jacobian matrix that is used to effect hybrid control of the manipulator is derived. Specifically, the two degrees of freedom parallel to the image plane of the camera are controlled using visual feedback, and the remaining degree of freedom is controlled using position feedback provided by the robot joint encoders.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages1264-1269
Number of pages6
ISBN (Print)0818627204
StatePublished - Dec 1 1992
EventProceedings of the 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: May 12 1992May 14 1992

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2

Other

OtherProceedings of the 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period5/12/925/14/92

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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