Concepts of augmented image space and transformed feature space for efficient visual servoing of an eye-in-hand robot

For efficient visual servoing of an eye-in-hand robot, the concepts of Augmented Image Space and Transformed Feature Space are presented in the paper. A formal definition of image features as functionals is given along with a technique to use defined image features for visual servoing. Compared with other known methods, the proposed concepts reduce the computational burden for visual feedback, and enhance the flexibility in describing the vision-based task. Simulations and real experiments demonstrate that the proposed concepts are useful and versatile tools for the industrial robot vision tasks, and thus the visual servoing problem can be dealt with more systematically.
Publisher
Cambridge University Press
Issue Date
1991-04
Language
ENG
Citation

ROBOTICA, v.9, no.pt 2, pp.203 - 212

ISSN
0263-5747
URI
http://hdl.handle.net/10203/65653
Appears in Collection
NE-Journal Papers(저널논문)
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