Hand-eye relation in visual servoing involves eye-in-hand and eye-to-hand configuration. Both have its own merit and drawback regarding to its precision and sight range. This paper addresses this problem and introduces the camera utilization as eye-to-hand configuration for the second robot, while it retains as eye-in-hand for the first robot. Hence, the camera becomes mobile and provides more precision and more global sight of scene. Moreover, this paper also addresses the real-time constraints within real-time vision system and real-time data exchange due to different processing units for robot and vision system. Here, a pattern design and simplified image processing are considered. This paper considers a 3D visual servoing within dynamic look and move scheme based on object pose. The system performance is validated by the experimental result.
|Number of pages||6|
|Publication status||Published - 12 Jul 2004|
|Event||Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan|
Duration: 25 Mar 2004 → 28 Mar 2004
|Conference||Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04|
|Period||25/03/04 → 28/03/04|