Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture
The reliability and robustness of image-based visual servoing systems is still unsolved by the moment. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations is proposed. Its con...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2011-12-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/11/12/11885/ |
| _version_ | 1798026967131357184 |
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| author | Francisco J. Badesa Ricardo Morales Jose Maria Sabater Nicolas Garcia-Aracil Carlos Perez-Vidal |
| author_facet | Francisco J. Badesa Ricardo Morales Jose Maria Sabater Nicolas Garcia-Aracil Carlos Perez-Vidal |
| author_sort | Francisco J. Badesa |
| collection | DOAJ |
| description | The reliability and robustness of image-based visual servoing systems is still unsolved by the moment. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations is proposed. Its control law has been defined to assure that the whole system is stable if each subsystem is stable and to allow avoiding typical problems of image-based visual servoing systems like task singularities, features extraction errors, disappearance of image features, local minima, etc. Experimental results with an industrial robot manipulator based on Schunk modular motors to demonstrate the stability, performance and robustness of the proposed system are presented. |
| first_indexed | 2024-04-11T18:43:57Z |
| format | Article |
| id | doaj.art-34c1ac0edc7642d9bb6d883508a761ae |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T18:43:57Z |
| publishDate | 2011-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-34c1ac0edc7642d9bb6d883508a761ae2022-12-22T04:08:53ZengMDPI AGSensors1424-82202011-12-011112118851190010.3390/s111211885Robust and Cooperative Image-Based Visual Servoing System Using a Redundant ArchitectureFrancisco J. BadesaRicardo MoralesJose Maria SabaterNicolas Garcia-AracilCarlos Perez-VidalThe reliability and robustness of image-based visual servoing systems is still unsolved by the moment. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations is proposed. Its control law has been defined to assure that the whole system is stable if each subsystem is stable and to allow avoiding typical problems of image-based visual servoing systems like task singularities, features extraction errors, disappearance of image features, local minima, etc. Experimental results with an industrial robot manipulator based on Schunk modular motors to demonstrate the stability, performance and robustness of the proposed system are presented.http://www.mdpi.com/1424-8220/11/12/11885/image-based visual servoingroboticscontrol |
| spellingShingle | Francisco J. Badesa Ricardo Morales Jose Maria Sabater Nicolas Garcia-Aracil Carlos Perez-Vidal Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture Sensors image-based visual servoing robotics control |
| title | Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture |
| title_full | Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture |
| title_fullStr | Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture |
| title_full_unstemmed | Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture |
| title_short | Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture |
| title_sort | robust and cooperative image based visual servoing system using a redundant architecture |
| topic | image-based visual servoing robotics control |
| url | http://www.mdpi.com/1424-8220/11/12/11885/ |
| work_keys_str_mv | AT franciscojbadesa robustandcooperativeimagebasedvisualservoingsystemusingaredundantarchitecture AT ricardomorales robustandcooperativeimagebasedvisualservoingsystemusingaredundantarchitecture AT josemariasabater robustandcooperativeimagebasedvisualservoingsystemusingaredundantarchitecture AT nicolasgarciaaracil robustandcooperativeimagebasedvisualservoingsystemusingaredundantarchitecture AT carlosperezvidal robustandcooperativeimagebasedvisualservoingsystemusingaredundantarchitecture |