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Visual servoing of a 5-DOF mobile ma...

The University of Regina (Canada).

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Visual servoing of a 5-DOF mobile manipulator using a panoramic vision system.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Visual servoing of a 5-DOF mobile manipulator using a panoramic vision system./
作者:	Zhang, Yong.
面頁冊數:	112 p.
附註:	Source: Masters Abstracts International, Volume: 46-03, page: 1727.
Contained By:	Masters Abstracts International46-03.
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR33562
ISBN:	9780494335628

Visual servoing of a 5-DOF mobile manipulator using a panoramic vision system.
Zhang, Yong.

Visual servoing of a 5-DOF mobile manipulator using a panoramic vision system. - 112 p.

Source: Masters Abstracts International, Volume: 46-03, page: 1727.

Thesis (M.A.Sc.)--The University of Regina (Canada), 2007.

In this thesis, a novel visual servoing technique for a 5-degree of freedom (DOF) mobile manipulator with an eye-to-hand camera configuration is introduced. The proposed technique can be categorized as an image based (or 2D) visual servoing using a fixed camera in conjunction with a conic mirror (aka, an omni-directional camera system) providing panoramic vision. Two fictitious landmarks mounted on robot's end-effector along with their mirror reflections, when viewed by the camera, provide enough information for 3D reasoning based on the four points viewed on the image plane. Instead of directly using the image features associated with these four points, five new image features are chosen to make the image Jacobian of full rank. A dual estimation/control strategy based on Extended Kalman Filter (EKF) is utilized to (1) estimate the camera's intrinsic and extrinsic parameters, and (2) track the coordinates of the landmarks and their reflections on the image plane. The relationship between the translational and rotational velocity of a frame attached to the robot's end-effector and rate of change of the proposed image features are fully formulated. The robustness of the proposed visual servoing technique is illustrated through computer simulations and sensitivity tests.

ISBN: 9780494335628Subjects--Topical Terms:

783786
Engineering, Mechanical.

Visual servoing of a 5-DOF mobile manipulator using a panoramic vision system.
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