Visual servoing by partitioning degrees of freedom.

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...

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Bibliographic Details
Published in:IEEE Transactions on robotics and automation 17, 1 (2001).
Main Author: Oh, P.Y
Format: Article
Language:English
Subjects:
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.