Adaptive control of nonlinear visual servoing systems for 3D cartesian tracking
Autor(a) principal: | |
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Data de Publicação: | 2006 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Sba: Controle & Automação Sociedade Brasileira de Automatica |
Texto Completo: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592006000400001 |
Resumo: | This paper presents a control strategy for robot manipulators to perform 3D cartesian tracking using visual servoing. Considering a fixed camera, the 3D cartesian motion is decomposed in a 2D motion on a plane orthogonal to the optical axis and a 1D motion parallel to this axis. An image-based visual servoing approach is used to deal with the nonlinear control problem generated by the depth variation without requiring direct depth estimation. Due to the lack of camera calibration, an adaptive control method is used to ensure both depth and planar tracking in the image frame. The depth feedback loop is closed by measuring the image area of a target object attached to the robot end-effector. Simulation and experimental results obtained with a real robot manipulator illustrate the viability of the proposed scheme. |
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Adaptive control of nonlinear visual servoing systems for 3D cartesian trackingAdaptive Visual ServoingTrackingDepth ControlUncertain Robotic SystemsThis paper presents a control strategy for robot manipulators to perform 3D cartesian tracking using visual servoing. Considering a fixed camera, the 3D cartesian motion is decomposed in a 2D motion on a plane orthogonal to the optical axis and a 1D motion parallel to this axis. An image-based visual servoing approach is used to deal with the nonlinear control problem generated by the depth variation without requiring direct depth estimation. Due to the lack of camera calibration, an adaptive control method is used to ensure both depth and planar tracking in the image frame. The depth feedback loop is closed by measuring the image area of a target object attached to the robot end-effector. Simulation and experimental results obtained with a real robot manipulator illustrate the viability of the proposed scheme.Sociedade Brasileira de Automática2006-12-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592006000400001Sba: Controle & Automação Sociedade Brasileira de Automatica v.17 n.4 2006reponame:Sba: Controle & Automação Sociedade Brasileira de Automaticainstname:Sociedade Brasileira de Automática (SBA)instacron:SBA10.1590/S0103-17592006000400001info:eu-repo/semantics/openAccessZachi,Alessandro R. L.Liu,HsuLizarralde,FernandoLeite,Antonio C.eng2007-04-02T00:00:00Zoai:scielo:S0103-17592006000400001Revistahttps://www.sba.org.br/revista/PUBhttps://old.scielo.br/oai/scielo-oai.php||revista_sba@fee.unicamp.br1807-03450103-1759opendoar:2007-04-02T00:00Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)false |
dc.title.none.fl_str_mv |
Adaptive control of nonlinear visual servoing systems for 3D cartesian tracking |
title |
Adaptive control of nonlinear visual servoing systems for 3D cartesian tracking |
spellingShingle |
Adaptive control of nonlinear visual servoing systems for 3D cartesian tracking Zachi,Alessandro R. L. Adaptive Visual Servoing Tracking Depth Control Uncertain Robotic Systems |
title_short |
Adaptive control of nonlinear visual servoing systems for 3D cartesian tracking |
title_full |
Adaptive control of nonlinear visual servoing systems for 3D cartesian tracking |
title_fullStr |
Adaptive control of nonlinear visual servoing systems for 3D cartesian tracking |
title_full_unstemmed |
Adaptive control of nonlinear visual servoing systems for 3D cartesian tracking |
title_sort |
Adaptive control of nonlinear visual servoing systems for 3D cartesian tracking |
author |
Zachi,Alessandro R. L. |
author_facet |
Zachi,Alessandro R. L. Liu,Hsu Lizarralde,Fernando Leite,Antonio C. |
author_role |
author |
author2 |
Liu,Hsu Lizarralde,Fernando Leite,Antonio C. |
author2_role |
author author author |
dc.contributor.author.fl_str_mv |
Zachi,Alessandro R. L. Liu,Hsu Lizarralde,Fernando Leite,Antonio C. |
dc.subject.por.fl_str_mv |
Adaptive Visual Servoing Tracking Depth Control Uncertain Robotic Systems |
topic |
Adaptive Visual Servoing Tracking Depth Control Uncertain Robotic Systems |
description |
This paper presents a control strategy for robot manipulators to perform 3D cartesian tracking using visual servoing. Considering a fixed camera, the 3D cartesian motion is decomposed in a 2D motion on a plane orthogonal to the optical axis and a 1D motion parallel to this axis. An image-based visual servoing approach is used to deal with the nonlinear control problem generated by the depth variation without requiring direct depth estimation. Due to the lack of camera calibration, an adaptive control method is used to ensure both depth and planar tracking in the image frame. The depth feedback loop is closed by measuring the image area of a target object attached to the robot end-effector. Simulation and experimental results obtained with a real robot manipulator illustrate the viability of the proposed scheme. |
publishDate |
2006 |
dc.date.none.fl_str_mv |
2006-12-01 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592006000400001 |
url |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592006000400001 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10.1590/S0103-17592006000400001 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
text/html |
dc.publisher.none.fl_str_mv |
Sociedade Brasileira de Automática |
publisher.none.fl_str_mv |
Sociedade Brasileira de Automática |
dc.source.none.fl_str_mv |
Sba: Controle & Automação Sociedade Brasileira de Automatica v.17 n.4 2006 reponame:Sba: Controle & Automação Sociedade Brasileira de Automatica instname:Sociedade Brasileira de Automática (SBA) instacron:SBA |
instname_str |
Sociedade Brasileira de Automática (SBA) |
instacron_str |
SBA |
institution |
SBA |
reponame_str |
Sba: Controle & Automação Sociedade Brasileira de Automatica |
collection |
Sba: Controle & Automação Sociedade Brasileira de Automatica |
repository.name.fl_str_mv |
Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA) |
repository.mail.fl_str_mv |
||revista_sba@fee.unicamp.br |
_version_ |
1754824564409368576 |