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Proceedings Paper

Hand-eye coordination with an active camera head
Author(s): Magued Bishay; R. Alan Peters; Don Mitchell Wilkes; Kazuhiko Kawamura
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Paper 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.

Paper Details

Date Published: 26 September 1997
PDF: 12 pages
Proc. SPIE 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, (26 September 1997); doi: 10.1117/12.290312
Show Author Affiliations
Magued Bishay, Rockwell Semiconductor Systems (United States)
R. Alan Peters, Vanderbilt Univ. (United States)
Don Mitchell Wilkes, Vanderbilt Univ. (United States)
Kazuhiko Kawamura, Vanderbilt Univ. (United States)


Published in SPIE Proceedings Vol. 3208:
Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling
David P. Casasent, Editor(s)

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