TAILIEUCHUNG - Robot manipulators trends and development 2010 Part 16

Tham khảo tài liệu 'robot manipulators trends and development 2010 part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 592 Robot Manipulators Trends and Development extracted using the image information and a calibrated camera model. Therefore a series of calibrations are necessary such as between the robot base and the camera between the tool and the camera and for the camera itself. Alternatively in the image-based approach the variables to be controlled are defined directly as features in the image space and hence it is not necessary to perform a complete 3D reconstruction of the scene. Tracking objects with the image-based approach is performed by computing the error on the image plane and asymptotically reducing this error to zero such that the robot is controlled to track a target based on the errors in the image frames. For the fixed camera configuration the image Jacobian can be calculated using the camera model. Because there are distortions of the targets in the image frame for the fixed camera configuration the identification of features is not accurate. On the other hand for the eye-in-hand configuration the image Jacobian is more difficult to compute Hutchinson et al. 1996 . However the feature identification errors can be greatly reduced if the end-effector is perpendicular to the features on a surface. However due to the lack of precise position and orientation none of the above two approaches is suitable to establish and maintain contact with the object surface. Many of the early research in visual servoing also ignored the dynamics of the robot and focused on estimating motion or recovering the image Jacobian. The paper Papanikolopoulos et al. 1993 proposed an adaptive control scheme for an eye-in-hand system in which the depth of each individual feature is estimated at each sampling time during execution. Another method introduced in Castano Hutchinson 1994 called visual compliance which is a vision-based control scheme was achieved through a hybrid vision position control structure. In Smits et al. 2008 the possible visual feedback control transformations are .

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