Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing
نویسندگان
چکیده
منابع مشابه
Image-based visual servoing schemes for nonholonomic mobile manipulators
We consider the task-oriented modeling of the differential kinematics of nonholonomic mobile manipulators (NMMs). A suitable NMM Jacobian is defined that relates the available input commands to the time derivative of the task variables, and can be used to formulate and solve kinematic control problems. When the NMM is redundant with respect to the given task, we provide an extension of two well...
متن کاملHybrid Position and Image Based Visual Servoing for mobile robots
Visual servoing requires the target object to be in the field of view of the camera all the time. At the same time, we also want to achieve optimal path planning and controllability of the robot pose. This paper presents a new hybrid fuzzy control method for visual servoing of mobile robots to meet these requirements. IBVS (Image Based Visual Servoing) calculates the motion plan directly from t...
متن کاملRobust image-based visual servoing using invariant visual information
This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be si...
متن کاملDynamic Position-Based Visual Servoing of Robotic Manipulators
− This paper discusses dynamic visual servoing and proposes a position-based approach to visual servo control of robotic manipulators. Several dynamic visual servoing control architectures used for position-based are addressed in this paper, in order to motivate the proposed approach. In position-based visual servoing, the features used to control the robot manipulator, actual pose of the objec...
متن کاملRobust Visual Servoing of Robot Manipulators Based on Passivity
Servo applications (regulation and tracking) are an important class of tasks for robots. Robustness in a servo controller must be guaranteed when the robot manipulator operates in an uncertain environment to ensure the stability and performance in the presence of uncertain robot manipulator dynamics, objects to be manipulated by the robot, and obstacles to be avoid. Also, robots must have sensi...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Electronics
سال: 2019
ISSN: 2079-9292
DOI: 10.3390/electronics8040374