Optimizing hand/eye configuration for visual-servo systems

Rajeev Sharma, Seth Hutchinson

Research output: Contribution to journalConference articlepeer-review

Abstract

We derived a quantitative measure of the ability of a camera setup to observe the changes in image features due to relative motion [10]. This measure of motion perceptibility has many applications in evaluating a robot hand/eye setup with respect to the ease of achieving vision-based control, and steering away from singular configurations. Motion perceptibility can be combined with the traditional notion of manipulability, into a composite perceptibility/manipulability measure. In this paper we demonstrate how this composite measure may be applied to a number of different problems involving relative hand/eye positioning and control. These problems include optimal camera placement, active camera trajectory planning, robot trajectory planning, and feature selection for visual servo control. We consider the general formulation of each of these problems, and several others, in terms of the motion perceptibility/manipulability measure and illustrate the solution for particular hand/eye configurations.

Original languageEnglish (US)
Pages (from-to)172-177
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - Jan 1 1995
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: May 21 1995May 27 1995

ASJC Scopus subject areas

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

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