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A position based visual tracking system for a 7 DOF robot manipulator using a Kinect camera

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

Siradjuddin, I, Behera, Laxmidhar, McGinnity, TM and Coleman, SA (2012) A position based visual tracking system for a 7 DOF robot manipulator using a Kinect camera. In: IEEE World Congress on Computational Intelligence (IJCNN), Brisbane, Australia. IEEE. 7 pp. [Conference contribution]

Full text not available from this repository.

DOI: 10.1109/IJCNN.2012.6252597

Abstract

This paper presents a position based visual tracking system of a redundant manipulator using a Kinect camera. Kinect camera provides 3-D information of a target object, therefore the control algorithm of the position-based visual servoing (PBVS) can be simplified, as there is no requirement to estimate a 3-D feature point position from the extracted image and the camera model. The Kalman filter is used to predict the target position and velocity. This control method is applied to a calibrated robotic system with eye-to-hand configuration. The stability analysis has been derived and real-time experiments have been carried out using a 7 DOF PowerCube manipulator from Amtec Robotic. The experimental results of both static and moving targets are presented to demonstrate and to verify the proposed position based visual tracking system performance.

Item Type:Conference contribution (Poster)
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:22696
Deposited By:Dr Sonya Coleman
Deposited On:24 Aug 2012 10:27
Last Modified:24 Aug 2012 10:27

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