Ce. Smith et Np. Papanikolopoulos, GRASPING OF STATIC AND MOVING-OBJECTS USING A VISION-BASED CONTROL APPROACH, Journal of intelligent & robotic systems, 19(3), 1997, pp. 237-270
Citations number
46
Categorie Soggetti
System Science","Computer Science Artificial Intelligence","Robotics & Automatic Control
Robotic systems require the use of sensing to enable flexible operatio
n in uncalibrated or partially calibrated environments. Recent work co
mbining robotics with vision has emphasized an active vision paradigm
where the system changes the pose of the camera to improve environment
al knowledge or to establish and preserve a desired relationship betwe
en the robot and objects in the environment. Much of this work has con
centrated upon the active observation of objects by the robotic agent.
We address the problem of robotic visual grasping (eye-in-hand config
uration) of static and moving rigid targets. The objective is to move
the image projections of certain feature points of the target to effec
t a vision-guided reach and grasp. An adaptive control algorithm for r
epositioning a camera compensates for the servoing errors and the comp
utational delays that are introduced by the vision algorithms. Stabili
ty issues along with issues concerning the minimum number of required
feature points are discussed. Experimental results are presented to ve
rify the validity and the efficacy of the proposed control algorithms.
We then address an adaptation to the control paradigm that focuses up
on the autonomous grasping of a static or moving object in the manipul
ator's workspace. Our work extends the capabilities of an eye-in-hand
system beyond those as a 'pointer' or a 'camera orienter' to provide t
he flexibility required to robustly interact with the environment in t
he presence of uncertainty. The proposed work is experimentally verifi
ed using the Minnesota Robotic Visual Tracker (MRVT) [7] to automatica
lly select object features, to derive estimates of unknown environment
al parameters, and to supply a control vector based upon these estimat
es to guide the manipulator in the grasping of a static or moving obje
ct.