Hand-eye coordination with an active camera head

Magued Bishay; R. Alan Peters; Don Mitchell Wilkes; Kazuhiko Kawamura

doi:10.1117/12.290312

26 September 1997 Hand-eye coordination with an active camera head

Magued Bishay, R. Alan Peters, Don Mitchell Wilkes, Kazuhiko Kawamura

Proceedings Volume 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling; (1997) https://doi.org/10.1117/12.290312
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

Hand-eye coordination is the coupling between vision and manipulation. Visual servoing is the term applied to hand-eye coordination in robots. In recent years, research has demonstrated that active vision -- active control of camera position and camera parameters -- facilitates a robot's interaction with the world. One aspect of active vision is centering an object in an image. This is known as gaze stabilization or fixation. This paper presents a new algorithm that applies target fixation to image-based visual servoing. This algorithm, called fixation point servoing (FPS), uses target fixation to eliminate the need for Jacobian computation Additionally, FPS reburies only the rotation relationship between the camera head and the gripper frames and does not require accurate tracking of the gripper. FPS was tested on a robotics system called ISAC and experimental results are shown. FPS was also compared to a classical Jacobian-based technique using simulations of both algorithms.

Citation Download Citation

Magued Bishay, R. Alan Peters, Don Mitchell Wilkes, and Kazuhiko Kawamura "Hand-eye coordination with an active camera head", Proc. SPIE 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, (26 September 1997); https://doi.org/10.1117/12.290312

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