Active visual control of robot arm
The use of vision system to control a robot arm increases the flexibility of the robot arm in executing its tasks. At present, such eye-hand coordination is mostly implemented using rigid or passive camera system. Usually, camera calibration is required to recover the homogeneous transformation matr...
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
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2009
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| Online Access: | http://hdl.handle.net/10356/19660 |
| _version_ | 1811677245151903744 |
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| author | Yau, Wei Yun. |
| author2 | Wang, Han |
| author_facet | Wang, Han Yau, Wei Yun. |
| author_sort | Yau, Wei Yun. |
| collection | NTU |
| description | The use of vision system to control a robot arm increases the flexibility of the robot arm in executing its tasks. At present, such eye-hand coordination is mostly implemented using rigid or passive camera system. Usually, camera calibration is required to recover the homogeneous transformation matrix and to reconstruct the three dimensional world in the robot space based on the image data acquired. However, the passive camera system limits the operating range and the accuracy of the eye-hand system. Increasing the operating range of such a system inevitably reduces the achievable precision and vice versa. Furthermore, the need for camera calibration causes the system to be sensitive to perturbations of the vision system. The work presented is an attempt to address these shortcomings. |
| first_indexed | 2024-10-01T02:34:18Z |
| format | Thesis |
| id | ntu-10356/19660 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:34:18Z |
| publishDate | 2009 |
| record_format | dspace |
| spelling | ntu-10356/196602023-07-04T15:49:57Z Active visual control of robot arm Yau, Wei Yun. Wang, Han School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics The use of vision system to control a robot arm increases the flexibility of the robot arm in executing its tasks. At present, such eye-hand coordination is mostly implemented using rigid or passive camera system. Usually, camera calibration is required to recover the homogeneous transformation matrix and to reconstruct the three dimensional world in the robot space based on the image data acquired. However, the passive camera system limits the operating range and the accuracy of the eye-hand system. Increasing the operating range of such a system inevitably reduces the achievable precision and vice versa. Furthermore, the need for camera calibration causes the system to be sensitive to perturbations of the vision system. The work presented is an attempt to address these shortcomings. Doctor of Philosophy (EEE) 2009-12-14T06:20:20Z 2009-12-14T06:20:20Z 1998 1998 Thesis http://hdl.handle.net/10356/19660 en NANYANG TECHNOLOGICAL UNIVERSITY 189 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Yau, Wei Yun. Active visual control of robot arm |
| title | Active visual control of robot arm |
| title_full | Active visual control of robot arm |
| title_fullStr | Active visual control of robot arm |
| title_full_unstemmed | Active visual control of robot arm |
| title_short | Active visual control of robot arm |
| title_sort | active visual control of robot arm |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | http://hdl.handle.net/10356/19660 |
| work_keys_str_mv | AT yauweiyun activevisualcontrolofrobotarm |