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Visual Servoing of a Redundant Manipulator Using Shape Moments

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

Siradjuddin, Indrazno, McGinnity, TM, Behera, Laxmidhar and Coleman, SA (2009) Visual Servoing of a Redundant Manipulator Using Shape Moments. In: Irish Signals and Systems Conference, Galway, Ireland. IET. 6 pp. [Conference contribution]

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DOI: 10.1049/cp.2009.1725

Abstract

This paper is concerned with real-time visual servoing of a redundant ma-nipulator using shape moments. The forward kinematics of the PowerCube manipulatorwith seven degrees of freedom (DOF) has been derived. The visual servoing is carriedout with camera placed at the end-effector which is also known as eye-in-hand config-uration. Image plane features such as centroid, area and orientation are considered toderive the image interaction matrix (image Jacobian) that maps image plane pixel veloc-ities to the end-effector Cartesian velocities. The proposed image based visual servoing(IBVS) method uses the moments invariant of an elliptical object and can position theend-effector to grasp the object with z-axis orientation of the end of effector. Actualexperiments have been carried out on the PowerCube manipulator from Amtec Roboticsto show that kinematic and image Jacobians derived are accurate.

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:19749
Deposited By:Dr Sonya Coleman
Deposited On:25 Aug 2011 15:09
Last Modified:25 Aug 2011 15:09

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