Recent advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to telerobotics systems where an operator can initialize the system but round-trip delay prohibits direct operator feedback during motion. This paper describes the basic theory behind feature-based visual servoing, and discusses the issues involved in integrating visual servoing into the ROTEX space teleoperation system.
Feature-based visual servoing and its application to telerobotics
Merkmalerkennende, sichtgestützte Fernsteuerung von Manipulator-Robotern, aufgezeigt am Raumprojekt ROTEX
1994
8 Seiten, 4 Bilder, 15 Quellen
Conference paper
English
Roboter , künstliche Intelligenz , Expertensystem , maschinelles Sehen , mehrdimensionaler Raum , Bildanalyse , Bilderkennung , Zielerkennung , Merkmalerkennung , Fernsehkamera , Stereoskopie , Fernüberwachung , Fernsteuerung , Fahrzeugführung , Fernwirktechnik , Positionsmessung , Manipulator , Handhabungstechnik , Raumfahrttechnik , Orientierung (Kurs) , mobiler Roboter
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