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A dynamic and uncalibrated method to visually servo-control elastic deformations by fully-constrained robotic grippers | IEEE Conference Publication | IEEE Xplore

A dynamic and uncalibrated method to visually servo-control elastic deformations by fully-constrained robotic grippers


Abstract:

In this paper, we address the set-point deformation control of elastic objects by fully-constrained grippers. We propose an uncalibrated Lyapunov-based algorithm that ite...Show More

Abstract:

In this paper, we address the set-point deformation control of elastic objects by fully-constrained grippers. We propose an uncalibrated Lyapunov-based algorithm that iteratively estimates the deformation Jacobian matrix, with no prior knowledge of the deformation and camera models. With this new method we show how, by combining pose information of the grippers with several visual measurements, we can independently control elastic deformations of unknown objects. We report experiments with a 6-DOF robot manipulator to validate this control approach.
Date of Conference: 31 May 2014 - 07 June 2014
Date Added to IEEE Xplore: 29 September 2014
Electronic ISBN:978-1-4799-3685-4
Print ISSN: 1050-4729
Conference Location: Hong Kong, China

References

References is not available for this document.