Proceedings ArticleDOI
Variable structure PID controller for cooperative eye-in-hand/eye-to-hand visual servoing
M. Elena,M. Cristiano,F. Damiano,Marcello Bonfe +3 more
- Vol. 2, pp 989-994
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TLDR
This paper presents an experiment on the use of a cooperative camera system for robotic tracking of an object moving on a plane that has a variable structure, which is capable to change from a PID to PD and vice versa according to the dynamic of the target.Abstract:
This paper presents an experiment on the use of a cooperative camera system for robotic tracking of an object moving on a plane. The image of the object is acquired from two cameras, the first one (camera in hand) mounted on the end-effector of a 6 DOF robot arm (Puma 260) and the second one fixed in a certain location (fixed camera). The images are processed by a frame grabber on a standard PC, and the controller has a variable structure, which is capable to change from a PID to PD and vice versa according to the dynamic of the target.read more
Citations
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Journal ArticleDOI
Position-Based Visual Servoing in Industrial Multirobot Cells Using a Hybrid Camera Configuration
TL;DR: This paper deals with the problem of position-based visual servoing in a multiarm robotic cell equipped with a hybrid eye-in-hand/eye-to-hand multicamera system and the proposed approach is based on the real-time estimation of the pose of a target object by using the extended Kalman filter.
Proceedings ArticleDOI
Eye-in-Hand/Eye-to-Hand Multi-Camera Visual Servoing
TL;DR: A position-based visual servoing algorithm using an hybrid eye-in-hand/eye-to-hand multi-camera configuration based on an extended Kalman filter exploiting the data provided by all the cameras without "a priori" discrimination, allowing real-time object pose estimation.
Proceedings ArticleDOI
One Click Focus with Eye-in-hand/Eye-to-hand Cooperation
TL;DR: This paper proposes an initialization step for a hybrid eye-in-hand/eye-to-hand grasping system, and a method to automatically focus on the object of interest is presented, tested and validated on a multi view robotic system.
Proceedings ArticleDOI
Intuitive human interaction with an arm robot for severely handicapped people - A One Click Approach
TL;DR: This document proposes a solution to reduce the interaction between a user and a robotic arm, equipped with two cameras, and provides a tool applicable to any kind of graspable object.
Aspects of Multi-Focal Vision
TL;DR: Novel multi-focal vision-based and attention control strategies are proposed, analyzed, and compared to conventional strategies to enhance the perceptual and controlling capabilities of Robots by combination of large field of view, improved measurement accuracy and control performance as well as a flexible situative allocation of sensor resources.
References
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Linear Matrix Inequalities in System and Control Theory
TL;DR: In this paper, the authors present a brief history of LMIs in control theory and discuss some of the standard problems involved in LMIs, such as linear matrix inequalities, linear differential inequalities, and matrix problems with analytic solutions.
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A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
TL;DR: In this paper, a two-stage technique for 3D camera calibration using TV cameras and lenses is described, aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters.