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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 addresses a hybrid neural-PID control scheme to nonlinear system for real-time robotic visual tracking of a moving object. By using the motion rules of the CCD camera and the object, the equations of observation and state-space are given. Then, the system can be represented as an MIMO ARMAX model and an efficient estimation model. The adaptive optimal predictor can process on-line estimation...
This paper uses learning methods to acquire image features from eigen subspace transform and acquire the nonlinear relation between image features and robot control commands through a wavelet function neural network. The stages include data-sampling, model-learning, and robot visual servo. The servo stage consists of acquiring an image, transforming it into image features, computing robot joints by...
People tracking and localization in situations with coexisting service robots is a challenging task due to the non-rigid nature of human body, complex background and frequent occlusions among people and robots. A multi-view approach is proposed to people-tracking and localization whilst the robotpsilas capability of perceiving environment is utilized. Initiated by person detection, tracking within...
This paper investigated the visual servoing regulation of nonholonomic mobile robots with monocular camera. Nonholonomic kinematic systems with visual feedback are uncertain and more involved in comparison with common kinematic systems. Two-step techniques were used to presented a robust controller that enables the mobile robot image pose and the orientation regulation despite the lack of depth information...
We consider a problem about navigation of a mobile robot with a camera in indoor environment. A new visual control method using a vanishing point of parallel lines at both sides of the corridor is introduced, and we call this the vanishing point visual control method. This method gives a lot of useful information on the design. Therefore we canpsilat need a priori information except both widths of...
This paper deals with the problem of object reconstruction for visual search by a humanoid robot. Three problems necessary to achieve the behavior autonomously are considered: full-body motion generation according to a camera pose, general object representation for visual recognition and pose estimation, and far-away visual detection of an object. First we deal with the problem of generating full...
This paper presents a manipulator visual servoing algorithm with the Kalman filter. The objective is to control the relative position and orientation between a robot's gripper and an object using a single camera mounted on the manipulator. The feature-based visual servoing control algorithm is used, which continually updates the pose of the robot relative to the object by using the differential changes...
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