Relative end-effector control using Cartesian position based visual servoing

This paper presents a complete design methodology for Cartesian position based visual servo control for robots with a single camera mounted at the end-effector. Position based visual servo control requires the explicit calculation of the relative position and orientation (POSE) of the workpiece obje...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on robotics and automation 1996-10, Vol.12 (5), p.684-696
Main Authors: Wilson, W.J., Williams Hulls, C.C., Bell, G.S.
Format: Article
Language:English
Subjects:
Cameras
Computer architecture
Computer errors
Design methodology
Electrical engineering
Equations
Error correction
Robot vision systems
Robots
Servosystems
Target tracking
Trajectory
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents a complete design methodology for Cartesian position based visual servo control for robots with a single camera mounted at the end-effector. Position based visual servo control requires the explicit calculation of the relative position and orientation (POSE) of the workpiece object with respect to the camera. This is accomplished using image plane measurements of a number of known feature points on the object, and then applying an extended Kalman filter to obtain a recursive solution of the photogrammetric equations, and to properly combine redundant measurements. The control is then designed by specifying the desired trajectories with respect to the object and forming the control error in the end-effector frame. The implementation using a distributed computer architecture is described. An experimental system has been built and used to evaluate the performance of the POSE estimation and the position based visual servo control. Several results for relative trajectory control and target tracking are presented. Results of the experiments showing the effect of loss of some of the redundant features are also presented.
ISSN:1042-296X
2374-958X
DOI:10.1109/70.538974