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...

Полное описание

Библиографические подробности
Опубликовано в::	IEEE Transactions on robotics and automation 17, 1 (2001).
Главный автор:	Oh, P.Y
Формат:	Статья
Язык:	English
Предметы:	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.