Time independent tracking using 2-D movement flow-based visual servoing

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Title: Time independent tracking using 2-D movement flow-based visual servoing
Authors: Pomares, Jorge | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingenieria de Sistemas y Teoría de la Señal
Keywords: Tracking trajectories | Eye-in-hand system | Vector field | 2-D visual servoing | Positioning tasks
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 2005
Publisher: IEEE
Citation: POMARES BAEZA, Jorge; TORRES MEDINA, Fernando. "Time independent tracking using 2-D movement flow-based visual servoing". En: Proceedings of the 2005 IEEE International Conference on Robotics and Automation : Barcelona, Spain, April 2005. Piscataway: IEEE, 2005. ISBN 0-7803-8914-X, pp. 2541-2546
Abstract: In this paper, the so-called 2-D movement flowbased visual servoing system is proposed, which allows the tracking of trajectories planned in the image space. This method is time-independent, which is useful when problems such as obstructions occur during the tracking. This method allows the tracking of image trajectories assuring the correct behaviour in the 3-D space and avoiding the limitations of the time-dependent systems used up to now for tracking trajectories. This aspect has allowed its application to manipulation tasks in which the trajectory can be obstructed during the tracking.
Sponsor: This work is partially supported by the Spanish MCYT project “DESAURO: Desensamblado Automático Selectivo para Reciclado mediante Robots Cooperativos y Sistema Multisensorial” (DPI2002-02103).
URI: http://hdl.handle.net/10045/2903
ISBN: 0-7803-8914-X
Language: eng
Type: info:eu-repo/semantics/bookPart
Peer Review: si
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