Direct Visual Servoing to Track Trajectories in Human-Robot Cooperation
This paper describes a dynamic image-based control system to guide two coupled robots. The first robot is a Mitsubishi PA-10 robotic manipulator which has a second mini-robot with 3 degrees of freedom (DOF) attached at its end-effector. The vision system used for the guidance of both robots is compo...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2011-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/45680 |
| _version_ | 1818328522141204480 |
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| author | Jorge Pomares Juan A. Corrales Gabriel J. García Fernando Torres |
| author_facet | Jorge Pomares Juan A. Corrales Gabriel J. García Fernando Torres |
| author_sort | Jorge Pomares |
| collection | DOAJ |
| description | This paper describes a dynamic image-based control system to guide two coupled robots. The first robot is a Mitsubishi PA-10 robotic manipulator which has a second mini-robot with 3 degrees of freedom (DOF) attached at its end-effector. The vision system used for the guidance of both robots is composed of a camera at the end-effector of the mini-robot. The paper presents a new method to perform the mini-robot guidance using dynamic control to track a previous generated image trajectory. The mini-robot performs the tracking in a workspace in cooperation with a human operator. Therefore, the proposed visual control is combined with virtual visual servoing to perform a safety behavior. |
| first_indexed | 2024-12-13T12:33:30Z |
| format | Article |
| id | doaj.art-d7679398e1714a3b993fe4bb0f7debba |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-13T12:33:30Z |
| publishDate | 2011-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-d7679398e1714a3b993fe4bb0f7debba2022-12-21T23:45:58ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142011-09-01810.5772/4568010.5772_45680Direct Visual Servoing to Track Trajectories in Human-Robot CooperationJorge Pomares0Juan A. Corrales1Gabriel J. García2Fernando Torres3 Physics, Systems Engineering and Signal Theory Dept., University of Alicante, Spain Physics, Systems Engineering and Signal Theory Dept., University of Alicante, Spain Physics, Systems Engineering and Signal Theory Dept., University of Alicante, Spain Physics, Systems Engineering and Signal Theory Dept., University of Alicante, SpainThis paper describes a dynamic image-based control system to guide two coupled robots. The first robot is a Mitsubishi PA-10 robotic manipulator which has a second mini-robot with 3 degrees of freedom (DOF) attached at its end-effector. The vision system used for the guidance of both robots is composed of a camera at the end-effector of the mini-robot. The paper presents a new method to perform the mini-robot guidance using dynamic control to track a previous generated image trajectory. The mini-robot performs the tracking in a workspace in cooperation with a human operator. Therefore, the proposed visual control is combined with virtual visual servoing to perform a safety behavior.https://doi.org/10.5772/45680 |
| spellingShingle | Jorge Pomares Juan A. Corrales Gabriel J. García Fernando Torres Direct Visual Servoing to Track Trajectories in Human-Robot Cooperation International Journal of Advanced Robotic Systems |
| title | Direct Visual Servoing to Track Trajectories in Human-Robot Cooperation |
| title_full | Direct Visual Servoing to Track Trajectories in Human-Robot Cooperation |
| title_fullStr | Direct Visual Servoing to Track Trajectories in Human-Robot Cooperation |
| title_full_unstemmed | Direct Visual Servoing to Track Trajectories in Human-Robot Cooperation |
| title_short | Direct Visual Servoing to Track Trajectories in Human-Robot Cooperation |
| title_sort | direct visual servoing to track trajectories in human robot cooperation |
| url | https://doi.org/10.5772/45680 |
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