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Provedor de dados:  ArchiMer
País:  France
Título:  Controlling an uninstrumented manipulator by visual servoing
Autores:  Marchand, Eric
Chaumette, François
Spindler, F
Perrier, Michel
Data:  2002-07
Ano:  2002
Palavras-chave:  Real time
Pose computation
No proprioceptive sensors
Eye to hand visual servoing
Resumo:  In this paper we present a method to control the displacement of a robot arm with no proprioceptive sensor. The joint positions are not available and this manipulator is usually open-loop controlled. In order to get a more efficient control interface, we propose a closed-loop system based on an eye-to-hand visual servoing approach. We show that, using such an approach, measurement of the manipulator motion with proprioceptive sensors is not required to precisely control the end-effector motion. We propose solutions for position-based control and velocity control of the manipulator. To maintain. the end effector in the camera field of view, the camera orientation is also controlled. Various results show the validity and the efficiency of the approach.
Tipo:  Text
Idioma:  Inglês
Identificador:  http://archimer.ifremer.fr/doc/2002/publication-758.pdf
Editor:  Sage Publications
Relação:  http://archimer.ifremer.fr/doc/00000/758/
Formato:  application/pdf
Fonte:  International Journal of Robotics Research (0278-3649) (Sage Publications), 2002-07 , Vol. 21 , N. 7 , P. 635-647
Direitos:  2002 by SAGE Publications
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