Conference proceeding
Image-based visual servoing for grasping unknown objects
2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies, Vol.2, pp.876-881 vol.2
2000
DOI: 10.1109/IECON.2000.972238
Abstract
In this paper we present an image-based visual servoing approach to the problem of grasping unknown objects by adopting visual vectors. A CCD camera mounted on the robot end-effector constructs the visually guided servo control system and the control scheme lends itself to task-level specification of manipulation goals by the visual vectors. The grasping task is to control the robot so that the vectors of the end-effector's finger and of a target object's grasp coincide. These vectors can be used to represent the work of a stable grasping of an object that is presented in an unstructured manner These visual vectors in image frame are obtained by analyzing the object's image and projection. The objective of vector processing is to estimate the error between the finger and grasp vectors, and to control the robot in order to eliminate kinematic errors.
Details
- Title: Subtitle
- Image-based visual servoing for grasping unknown objects
- Creators
- H Fujimoto - Nagoya Institute of TechnologyLiu-Cun ZhuK Abdel-Malek
- Resource Type
- Conference proceeding
- Publication Details
- 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies, Vol.2, pp.876-881 vol.2
- DOI
- 10.1109/IECON.2000.972238
- Publisher
- IEEE
- Language
- English
- Date published
- 2000
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984195171302771
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