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Author Tsay, T.I.J. ♦ Lee, M.K. ♦ Wang, G.L. ♦ Hsu, M.S. ♦ Lai, C.H.
Sponsorship IEEE Control Syst. Soc
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2002
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Robot kinematics ♦ Visual servoing ♦ Head ♦ Open loop systems ♦ Eyes ♦ Robot vision systems ♦ Cameras ♦ Equations ♦ Sliding mode control ♦ Laser theory
Abstract Robotic eye/arm coordination has recently enjoyed much attention. This paper presents the coordinated control of the eyes in the robotic binocular head and the robot arm. This paper proposes an image-based visual servo control method for the binocular head, which integrates the kinematics of both the robotic head and cameras with the dynamics of the head to obtain an image-based dynamic equation. The fuzzy sliding mode control algorithm is applied to the image-based dynamic equation for the robotic head to trace the target and keep it at the centers of both image planes of two CCD cameras in the presence of model uncertainties and disturbances. Additionally, this paper proposes a coordinated visual guided control strategy for the eyes in the robotic head and robot arm, which is an end point open-loop control method. The coordinated control strategy proposed herein is based on the coordination transformation from the head to the arm, which is calibrated off-line. To illustrate and verify the theoretical derivations, a robot arm equipped with a laser pointer is controlled to focus a laser beam on a moving size-changing target on the screen of a monitor, while the eyes in a binocular head trace the target.
Description Author affiliation: Dept. of Mech. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan (Tsay, T.I.J.; Lee, M.K.; Wang, G.L.; Hsu, M.S.; Lai, C.H.)
ISBN 0780373863
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2002-09-18
Publisher Place UK
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 431.43 kB
Page Count 6
Starting Page 742
Ending Page 747


Source: IEEE Xplore Digital Library