The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents a new criterion for the evaluation of visual features used in image based control laws. Due to their established performances in servoing applications, image moments derived from point features are evaluated. The proposed criterion analyses both the quantity and the quality of the information stored in an ensemble of point features used in controlling servoing systems. Using Hausdorff...
In this paper an approach to visual control robot manipulator using image moments is presented. The main part of any image based control system, the interaction matrix, is derived using image moments. A Matlab implementation of the image based control algorithm, tests and validation are presented. Stages were conducted using synthetic images and also real ones. An ABB robot with 6 degrees of freedom...
In this paper, a model predictive control strategy is presented to visual servoing a robot manipulator with eye-in-hand configuration. Starting with the discrete form of the time derivative of features related with camera velocity through image Jacobian matrix and taking into account the discrete robot model, a new approach for computing the predictions is introduced. By means of a cost function based...
Image features represent inputs for different types of visual applications. For visual servoing tasks the chosen features must be stable, accurate and robust. Gradient based algorithms for feature detection are sensitive to noise, illumination change and scale change. Using phase congruency, an image feature detection algorithm is developed based on the local energy model. The performances of the...
This paper presents a multivariable open-loop model for visual servoing of robot manipulators using image based strategy. The modeling considers the dynamics of the velocity controlled robot as well as a model of the visual sensor that consists of camera and feature extraction block. Taking into account the velocity dynamics with internal feedback loops, a linearized and decoupled model of the joints...
This paper presents a dynamic simulation model for visual servoing of a robot manipulator using image based strategy. The modeling takes into account the dynamics of the camera velocity inner loop as well as a model of the visual sensor that consists of the camera and feature extraction block. Considering the inner loop and the visual sensor models, the dynamic simulation model of the visual servo...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.