Mathematical control theory: deterministic systems
Mathematical control theory: deterministic systems
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
What Tasks can be Performed with an Uncalibrated Stereo Vision System?
International Journal of Computer Vision
Robot Vision
Vision-based control of uncertain systems
Vision-based control of uncertain systems
Hybrid Force and Vision-Based Contour Following of Planar Robots
Journal of Intelligent and Robotic Systems
Precise Positioning of Binocular Eye-to-Hand Robotic Manipulators
Journal of Intelligent and Robotic Systems
Vision-assisted control for manipulation using virtual fixtures
IEEE Transactions on Robotics
Vision-Based Adaptive Tracking Control of Uncertain Robot Manipulators
IEEE Transactions on Robotics
Binocular vision-based robot control with active hand-eye coordination
ECAL'07 Proceedings of the 9th European conference on Advances in artificial life
Online boosting for vehicle detection
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on game theory
Hi-index | 0.00 |
Robotic manipulators that have interacted with uncalibrated environments typically have limited positioning and tracking capabilities, if control tasks cannot be appropriately encoded using available features in the environments. Specifically, to perform 3-D trajectory following operations employing binocular vision, it seems necessary to have a priori knowledge on pointwise correspondence information between two image planes. However, such an assumption cannot be made for any smooth 3-D trajectories. This paper describes how one might enhance autonomous robotic manipulation for 3-D trajectory following tasks using eye-to-hand binocular visual servoing. Based on a novel encoded error, an image-based feedback control law is proposed without assuming pointwise binocular correspondence information. The proposed control approach can guarantee task precision by employing only an approximately calibrated binocular vision system. The goal of the autonomous task is to drive a tool mounted on the end-effector of the robotic manipulator to follow a visually determined smooth 3-D target trajectory in desired speed with precision. The proposed control architecture is suitable for applications that require precise 3-D positioning and tracking in unknown environments. Our approach is successfully validated in a real task environment by performing experiments with an industrial robotic manipulator.