A new time-independent image path tracker to guide robots using visual servoing

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/10164
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Title: A new time-independent image path tracker to guide robots using visual servoing
Authors: Garcia, Gabriel J. | Pomares, Jorge | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Visual servoing | Tracking robots
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: Sep-2007
Publisher: IEEE
Citation: GARCÍA GÓMEZ, Gabriel Jesús; POMARES BAEZA, Jorge; TORRES MEDINA, Fernando. "A new time-independent image path tracker to guide robots using visual servoing". En: IEEE Conference on Emerging Technologies & Factory Automation, 2007: ETFA, September 25-28 2007. Piscataway, NJ : IEEE, 2007. ISBN 978-1-4244-0825-2, pp. 957-964
Abstract: In this paper, a new method to track image trajectories by visual servoing is proposed. This method solves the problem of the previous proposed time-independent tracking systems based on visual servoing. With the proposed method, the robot can track a previously generated trajectory affording a correct tracking not only in the image but also in the 3D space. This new method presents several improvements over the previous ones such as the possibility of specifying the desired tracking velocity, a less oscillating behavior or a correct tracking in the 3D space when high velocities are used. In order to demonstrate the correct behavior of the visual servoing system, an eye-in-hand camera system is used.
Sponsor: Funded by the Spanish MEC project "Diseño, Implementación y Experimentación de Escenarios de Manipulación Inteligentes para Aplicaciones de Ensamblado y Desensamblado Automático".
URI: http://hdl.handle.net/10045/10164
ISBN: 978-1-4244-0825-2
DOI: 10.1109/EFTA.2007.4416887
Language: eng
Type: info:eu-repo/semantics/bookPart
Peer Review: si
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