Open document
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General information |
| Author |
Xin, Jing; Chen, Kemin; Bai, Lei; Liu, Ding; Zhang, Jian |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
To solve the view visibility problem and keep
the observed object in the field of view (FOV) during
the visual servoing, a depth adaptive zooming visual
servoing strategy for a manipulator robot with a
zooming camera is proposed. Firstly, a zoom control
mechanism is introduced into the robot visual servoing
system. It can dynamically adjust the camera’s field of
view to keep all the feature points on the object in the
field of view of the camera and get high object local
resolution at the end of visual servoing. Secondly, an
invariant visual servoing method is employed to
control the robot to the desired position under the
changing intrinsic parameters of the camera. Finally, a
nonlinear depth adaptive estimation scheme in the
invariant space using Lyapunov stability theory is
proposed to estimate adaptively the depth of the image
features on the object. Three kinds of robot 4DOF
visual positioning simulation experiments are
conducted. The simulation experiment results show
that the proposed approach has higher positioning
precision. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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