Fiducial markers applied for pose tracking of a robotic manipulator: application in visual servoing control
Carregando...
Data
Título da Revista
ISSN da Revista
Título de Volume
Editor
Universidade Federal de Minas Gerais
Descrição
Tipo
Artigo de evento
Título alternativo
Primeiro orientador
Membros da banca
Resumo
This paper presents the implementation of visual servo control for a robotic manipulator bereft of proprioceptive sensors, employing for such purpose computer vision techniques to infer the joint angles and position coordinates of the system in real-time. Fiducial markers were attached to the links of the manipulator, so that, through a simple camera physically arranged in monocular topology and steady configuration (eye to hand), and a processing and data extraction interface, it is possible to compute the complete spatial configuration of the manipulator and therefore, calculate control laws for it. Regarding this aspect, the manipulator dynamics was disregarded, and a resolved-rate control method was applied, based on the differential kinematics of the robot.
Abstract
Assunto
Robótica, Computação móvel, Arquitetura de computador
Palavras-chave
Robot Manipulator, Visual Control, Fiducial Markers, Visual Servoing Control, Pose Tracking, Computer Vision Techniques, Joint Angles, Visual Feedback, Jacobian Matrix - Homography Matrix, Geometric Model, End-effector, Yaw Angle, Kinematic Control
Citação
Departamento
Curso
Endereço externo
https://ieeexplore.ieee.org/document/7783541