Fiducial markers applied for pose tracking of a robotic manipulator: application in visual servoing control

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dc.creatorIgor Pereira Vieira
dc.creatorArmando Alves Neto
dc.creatorLeonardo Amaral Mozelli
dc.date.accessioned2025-03-21T13:14:55Z
dc.date.accessioned2025-09-08T23:41:00Z
dc.date.available2025-03-21T13:14:55Z
dc.date.issued2016
dc.identifier.doi10.1109/LARS-SBR.2016.55
dc.identifier.issn2835-8996
dc.identifier.urihttps://hdl.handle.net/1843/80811
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.rightsAcesso Restrito
dc.subjectRobótica
dc.subjectComputação móvel
dc.subjectArquitetura de computador
dc.subject.otherRobot Manipulator
dc.subject.otherVisual Control
dc.subject.otherFiducial Markers
dc.subject.otherVisual Servoing Control
dc.subject.otherPose Tracking
dc.subject.otherComputer Vision Techniques
dc.subject.otherJoint Angles
dc.subject.otherVisual Feedback
dc.subject.otherJacobian Matrix - Homography Matrix
dc.subject.otherGeometric Model
dc.subject.otherEnd-effector
dc.subject.otherYaw Angle
dc.subject.otherKinematic Control
dc.titleFiducial markers applied for pose tracking of a robotic manipulator: application in visual servoing control
dc.typeArtigo de evento
local.citation.epage292
local.citation.spage287
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/7783541

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