TY - JOUR
T1 - Eye-to-hand approach on eye-in-hand configuration within real-time visual servoing
AU - Muis, Abdul
AU - Ohnishi, Kouhei
N1 - Funding Information:
Manuscript received February 20, 2005; revised March 27, 2005. Recommended by Guest Editors K. Ohnishi, R. Oboe, and Y. Hori. This work was supported in part by Hitachi Foundation and a Grant in Aid for the 21st Century Center of Excellence for Optical and Electronic Device Technology for Access Network from the Ministry of Education, Culture, Sports, Science and Technology in Japan.
PY - 2005/8
Y1 - 2005/8
N2 - This paper presents a framework of hand-eye relation for visual servoing with more precision, mobility, and global view. Mainly, there are two types of camera utilization for visual servoing: eye-in-hand and eye-to-hand configurations. Both have own merits and drawbacks regarding to precision and view limit that oppose each other. Based on both behaviors, this paper employs a mobile manipulator as the second robot to hold the camera. Here, the camera architecture is eye-to-hand configuration for the main robot, but mainly behaves as eye-in-hand configuration for the second robot. Having this framework, the drawback of each configuration is resolved by the benefit of the other. Here, the camera becomes mobile with more precision and global view. In addition, since there is no additional camera, the vision algorithm can be kept simple. In order to gain real-time visual servoing, this paper also addresses real-time constraints on vision system and data communication between robot and vision. Here, a hexagon pattern of artificial marker with a simplified image processing is developed. A grasp positioning problem is considered with position-based dynamic look and move visual control through object pose estimation. The system performance is validated by the experimental result.
AB - This paper presents a framework of hand-eye relation for visual servoing with more precision, mobility, and global view. Mainly, there are two types of camera utilization for visual servoing: eye-in-hand and eye-to-hand configurations. Both have own merits and drawbacks regarding to precision and view limit that oppose each other. Based on both behaviors, this paper employs a mobile manipulator as the second robot to hold the camera. Here, the camera architecture is eye-to-hand configuration for the main robot, but mainly behaves as eye-in-hand configuration for the second robot. Having this framework, the drawback of each configuration is resolved by the benefit of the other. Here, the camera becomes mobile with more precision and global view. In addition, since there is no additional camera, the vision algorithm can be kept simple. In order to gain real-time visual servoing, this paper also addresses real-time constraints on vision system and data communication between robot and vision. Here, a hexagon pattern of artificial marker with a simplified image processing is developed. A grasp positioning problem is considered with position-based dynamic look and move visual control through object pose estimation. The system performance is validated by the experimental result.
KW - Hand-eye configuration
KW - Manipulator
KW - Mobile robots
KW - Robot vision systems
UR - http://www.scopus.com/inward/record.url?scp=27144548503&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2005.852397
DO - 10.1109/TMECH.2005.852397
M3 - Article
AN - SCOPUS:27144548503
SN - 1083-4435
VL - 10
SP - 404
EP - 410
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 4
ER -