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Video-rate visual servoing for robots

  • Section 3: Perception
  • Conference paper
  • First Online:
Experimental Robotics I

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 139))

Abstract

This paper presents some recent experimental results in robotic visual servoing. A general-purpose computer in conjunction with special purpose video processing hardware, in particular a newly available hardware region-growing and moment-generation unit, has been used to visually close the robot position loop at video field rates, 60Hz.

The paper reviews prior work in the area of visual-servoing, and the related topic of real-time image segmentation. The architecture of an experimental system is discussed, and its' dynamics are investigated both experimentally and analytically.

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Author information

Authors and Affiliations

  1. CSIRO Division of Manufacturing Technology, 3072, Preston, Victoria, Australia

    Peter I. Corke

  2. Department of Computer and Information Science, University of Pennsylvania, 19104, Philadelphia, PA, USA

    Richard P. Paul

Authors
  1. Peter I. Corke
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  2. Richard P. Paul
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Editor information

Vincent Hayward Oussama Khatib

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© 1990 Springer-Verlag

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Corke, P.I., Paul, R.P. (1990). Video-rate visual servoing for robots. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042533

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  • DOI: https://doi.org/10.1007/BFb0042533

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-52182-2

  • Online ISBN: 978-3-540-46917-9

  • eBook Packages: Springer Book Archive

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