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

页码：271 / 278

页数：8

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