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A new time-independent image path tracker to guide robots using visual servoing

By Gabriel J. Garcia, Jorge Pomares and Fernando Torres

Abstract

In this paper, a new method to track image trajectories by visual servoing is proposed. This method solves the problem of the previous proposed time-independent tracking systems based on visual servoing. With the proposed method, the robot can track a previously generated trajectory affording a correct tracking not only in the image but also in the 3D space. This new method presents several improvements over the previous ones such as the possibility of specifying the desired tracking velocity, a less oscillating behavior or a correct tracking in the 3D space when high velocities are used. In order to demonstrate the correct behavior of the visual servoing system, an eye-in-hand camera system is used.Funded by the Spanish MEC project "Diseño, Implementación y Experimentación de Escenarios de Manipulación Inteligentes para Aplicaciones de Ensamblado y Desensamblado Automático"

Topics: Visual servoing, Tracking robots, Ingeniería de Sistemas y Automática
Publisher: IEEE
Year: 2007
DOI identifier: 10.1109/EFTA.2007.4416887
OAI identifier: oai:rua.ua.es:10045/10164
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