Visual servoing by partitioning degrees of freedom.

There are many design factors and choices when mounting a vision system for robot control. Such factors may include the kinematic and dynamic characteristics in the robot's degrees of freedom (DOF), which determine what velocities and fields-of-view a camera can achieve. Another factor is that...

Täydet tiedot

Bibliografiset tiedot
Julkaisussa:	IEEE Transactions on robotics and automation 17, 1 (2001).
Päätekijä:	Oh, P.Y
Aineistotyyppi:	Artikkeli
Kieli:	English
Aiheet:	2-DOF pan-tilt unit robot. 3-DOF Cartesian gantry robot. 5-DOF hybrid robot. MIMO control. Assembly workcell. Camera velocities. Control law synthesis. Degrees-of-freedom partitioning. Dynamic characteristics. Fields-of-view. Joint coupling. Kinematic characteristics. Kinematic feedback loops. Motion components. Person tracking. Real-time experiments. Robot hand tracking. Servo camera motions. Visual feedback loops. Visual servoing.