Visual Servoing in ISAC , a Decentralized Robot System for Feeding
نویسندگان
چکیده
a Decentralized Robot System for Feeding the Disabled M. Bishay, M. E. Cambron, K. Negishi , R. A. Peters IIy, and Kazuhiko Kawamura Dept. of Electrical and Computer Engineering, Vanderbilt University Nashville, TN 37235 Proceedings of the 1995 IEEE International Symposium on Computer Vision pp. 335-340, Coral Gables, FL, 21-23 November 1995 Abstract ISAC is a distributed robotic feeding system for the physically disabled. This paper describes a visual servoing system which enables ISAC's robot arm to grasp an object. The servo control loop is de ned. The image to world coordinate transform is deduced. A threephase visual servoing algorithm which balances speed with complexity is described. A technique for compensating for network delays is presented. The results of 200 trials are analyzed. A success rate of 91% was achieved.
منابع مشابه
Visual servoing for a service robot
ISAC is a distributed service robot system for the physically disabled. ISAC can identify, reach for, grasp, lift, and manipulate various objects upon user voice-command. Visual servoing controls the robot's arm to grasp an object. This paper describes an algorithm that compensates for a number of physical limitations in the system's hardware which hinder the straightforward implementation of v...
متن کاملSimulation of Position Based Visual Control and Performance Tests of 6R Robot
This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...
متن کاملDepth Adaptive Zooming Visual Servoing for a Robot with a Zooming Camera
To solve the view visibility problem and keep the observed object in the field of view (FOV) during the visual servoing, a depth adaptive zooming visual servoing strategy for a manipulator robot with a zooming camera is proposed. Firstly, a zoom control mechanism is introduced into the robot visual servoing system. It can dynamically adjust the camera’s field of view to ...
متن کاملVisually Guided Coordination for Distributed Precision Assembly
This report documents the integration of machine vision into the minifactory environment. Minifactory is an automated factory system being developed at the Microdynamic Systems Laboratory at Carnegie Mellon University and is aimed toward the assembly of small mechatronic devices. Machine vision can aid assembly systems by eliminating the need for complicated part holding jigs, end effectors, an...
متن کاملCharacteristics of Robot Visual Servoing Methods and Target Model Estimation
This paper presents a review of characteristics of the two main visual servoing methods, image-based visual servoing and position-based visual servoing. First, a generic structure is defined with an emphasis on the same system inputs and outputs for the two methods. Stability, robustness, sensitivity, and other general characteristics of the methods are presented. To overcome the dependency of ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1995