Tridimensional Visual Servoing

被引：0
|
作者：
Schleyer, Gustavo [1 ]
Lefranc, Gaston [1 ]
机构：
[1] Pontificia Univ Catolica Valparaiso, Escuela Ingn Elect, Valparaiso, Chile
来源：
STUDIES IN INFORMATICS AND CONTROL | 2009年 / 18卷 / 03期
关键词：
Visual Servoing Systems; Robotic Manipulators; Stereo vision; Kinematics control; CAMERA;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a tridimensional visual servoing that gives the information of the position, height and orientation of several objects presented in the working area of a robot manipulator. With this information, the robot manipulator's effector can pick and place objects to a specific position. A pair of stereo camera produces the feedback obtaining a particular position of the effector of robot. The servoing implemented is based on vision stereo lateral model. This servoing system is tested experimentally in real time on a Scara Manipulator, including the stereo cameras and image processing using Matlab.
引用
收藏
页码：271 / 278
页数：8
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