2.5-D visual servoing experiment using Adept Viper s850
Rahmatillah A.a,b, Trilaksono B.R.a, Hindersah H.a
a School of Electrical Engineering and Informatics, Bandung Institut of Technology, Indonesia
b Departement of Physics, Airlangga University, Indonesia
Abstract
This paper describe a visual feedback control experiment for manipulator robot with camera on its hand using 2.5-D visual servoing control scheme. This scheme does not need estimate full 3D model of target object. Design of image jacobian matrix is separated between translation motion that using image based scheme and rotation motion that using position based scheme. The task of robot was approaching an object with specific desired position and orientation. A 6DOFAdept Viper s850 robot and Logitech C920 web camera are used in this experiment. An experiment architecture adapted to facilities in our lab. © 2013 IEEE.
Author keywords
Image jacobian matrix,Interaction matrices,Manipulator robots,Rotation motions,Translation motion,Visual feedback control,Visual servoing controls,Web camera
Indexed keywords
2.5-D visual servoing,interaction matrix,manipulator robot,visual servoing,web camera