Visual servoing of a 6-DOF manipulator for unknown 3-d profile following

Gangloff, Jacques; Mathelin, M.F. de

doi:10.1109/tra.2002.802201

Cited by 44 publications

(28 citation statements)

References 13 publications

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“…Some examples of visual servo application in mobile navigation are indicated in [5,6]. The research and physical demonstration of visual servoing in mobile manipulation have been mostly limited two degrees of freedom DOF [7] and simplified robot models [8].…”

Section: Two Traditional Visual Servoing Methodsmentioning

confidence: 99%

Application of Visual Servo Control in Autonomous Mobile Rescue Robots

Lang¹,

Khan²,

Tan³

et al. 2016

INT J COMPUT COMMUN

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Mobile robots that integrate visual servo control for facilitating autonomous grasping and manipulation are the focus of this paper. In view of mobility, they have wider application than traditional fixed-based robots with visual servoing. Visual servoing is widely used in mobile robot navigation. However, there are not so many report for applying it to mobile manipulation. In this paper, challenges and limitations of applying visual servoing in mobile manipulation are discussed. Next, two classical approaches (image-based visual servoing (IBVS) and position-based visual servoing (PBVS)) are introduced aloing with their advantages and disadvantages. Simulations in Matlab are carried out using the two methods, there advantages and drawbacks are illustrated and discussed. On this basis, a suggested system in mobile manipulation is proposed including an IBVS with an eye-in-hand camera configuration system. Simulations and experimentations are carried with this robot configuration in a search and rescue scenario, which show good performance.

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Section: Two Traditional Visual Servoing Methodsmentioning

confidence: 99%

Application of Visual Servo Control in Autonomous Mobile Rescue Robots

Lang¹,

Khan²,

Tan³

et al. 2016

INT J COMPUT COMMUN

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“…the rotation around the yaxis of the reference frame of the tcp. The computation of this value needs at least three lines, see (Gangloff and de Mathelin, 2002).…”

Section: Ttt T Ttt Tmentioning

confidence: 99%

“…Other methods handle with multiple lines with point-by-point given nominal location, thus allowing both translational and rotational sensor induced path corrections. However they require complex computations as (Lange & Hirzinger, 2003), or work at lower speed as (Gangloff & de Mathelin, 2002) or (Rives & Borrelly, 2000). The complexity comes from rotations between nominal and real world which in practice are not significant.…”

Section: Introductionmentioning

confidence: 99%

Spatial Vision-Based Control of High-Speed Robot Arms

Lange¹,

Hirzinger²

2006

Industrial Robotics: Theory, Modelling and Control

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“…Advanced control laws such as optimal control [14,22], adaptive control [21], LMIs [9,10] and predictive control [2,3,12,13,23] have been reported in the literature. In [12,13], a predictive controller is used for motion compensation in target tracking applications. The prediction of the target motion is used to reject perturbation in order to cancel tracking errors.…”

mentioning

confidence: 99%