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.


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    Title :

    Feature-based visual servoing and its application to telerobotics


    Additional title:

    Merkmalerkennende, sichtgestützte Fernsteuerung von Manipulator-Robotern, aufgezeigt am Raumprojekt ROTEX


    Contributors:
    Hager, G.D. (author) / Grunwald, G. (author) / Hirzinger, G. (author)


    Publication date :

    1994


    Size :

    8 Seiten, 4 Bilder, 15 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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