The video demonstrates 2D visual servoing for the multi-flexible-link robot arm TUDOR. The visual servoing scheme utilizes the robot jacobian of the equivalent rigid arm. Vibration damping is achieved by an underlying cascaded independent joint controller with augmented strain feedback (http://www.youtube.com/watch?v=pmnX4w...). The objective of the visual servoing controller is to keep the centroid of a square pattern in the image center. The controller also compensates for the pose error caused by deflections due to an additional payload of 600 gram. The camera is a Microsoft Kinect, although the depth information has not yet been incorporated in the controller. Exploiting the potentials of the RGB-D sensor for the control flexible-link robots is subject to current research. Timeline: 00:06 Experiment I: Centering a moving square pattern 00:40 Experiment II: Change in payload without visual servoing 01:27 Experiment III: Change in payload with visual servoing


    Access

    Go to TIB AV-Portal


    Export, share and cite



    Title :

    TUDOR initial visual servoing experiments


    Subtitle :

    Experiment/Model Test


    Contributors:

    Publication date :

    2011-01-01


    Size :

    19MB, 00:02:08:14


    Remarks:

    Stummfilm
    Silent movie



    Type of media :

    Audio-visual


    Type of material :

    Audio-visual


    Language :

    Unknown





    Visual Servoing Systems

    Copot, Cosmin / Ionescu, Clara Mihaela / Muresan, Cristina I. | Springer Verlag | 2020


    Visual servoing - Nonlinear observer approach

    Hashimoto, K. / Kimura, H. | British Library Online Contents | 1995


    Visual Servoing of Legged Robots

    Echegoyen, Z. | British Library Online Contents | 2012


    The Resolvability Ellipsoid for Visual Servoing

    Nelson, B. J. / Khosla, P. K. / Institute of Electrical and Electronics Engineers; Computer Society | British Library Conference Proceedings | 1994


    Photometric visual servoing for omnidirectional cameras

    Caron, G. | British Library Online Contents | 2013



    Preview

    Preview Image