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Mixed Visual Control Method for Robots With Self-Calibrated Stereo Rig

文献类型：期刊论文

作者Shen Yang; Xu De; Tan Min; Yu Junzhi
刊名IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
出版日期2010-02-01
卷号59期号:2页码:470-479
关键词Approach to grasp robot self-calibration stereo rig visual control visual measurement
通讯作者Shen Yang
英文摘要This paper focuses on the problem of the self-calibration of a stereo rig and the visual control method for 3-DOF approach movements of a robot. A new measurement model for the stereo rig fixed beside the robot is developed based on the relative position of the end-effector and target. The stereo rig is linearly calibrated online with at least two steps of unspecific motions of the robot. A mixed visual control method is then proposed to guide the end-effector to approach the target, whose robustness and efficiency are improved by taking the advantage of both position-based and image-based visual control methods. Experimental results are provided to verify the effectiveness of the proposed methods.
WOS标题词Science & Technology ; Technology
类目[WOS]Engineering, Electrical & Electronic ; Instruments & Instrumentation
研究领域[WOS]Engineering ; Instruments & Instrumentation
关键词[WOS]SERVO CONTROL ; TRACKING ; VISION
收录类别SCI
语种英语
WOS记录号WOS:000273565700026
源URL[http://ir.ia.ac.cn/handle/173211/3447]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
推荐引用方式
GB/T 7714		 Shen Yang,Xu De,Tan Min,et al. Mixed Visual Control Method for Robots With Self-Calibrated Stereo Rig[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2010,59(2):470-479.
APA Shen Yang,Xu De,Tan Min,&Yu Junzhi.(2010).Mixed Visual Control Method for Robots With Self-Calibrated Stereo Rig.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,59(2),470-479.
MLA Shen Yang,et al."Mixed Visual Control Method for Robots With Self-Calibrated Stereo Rig".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 59.2(2010):470-479.

入库方式： OAI收割

来源：自动化研究所

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