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Visual servoing : real-time control of robot manipulators based on visual sensory feedback /

This book treats visual feedback control of mechanical systems, mostly robot manipulators. It not only deals with image processing techniques and robot control schemes but also covers the latest investigation of the design of the visual servo mechanism based on modern linear and nonlinear control th...

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Bibliographic Details
Corporate Authors: World Scientific (Firm)
Group Author: Hashimoto, Koichi. (Editor)
Published: World Scientific Pub. Co.,
Publisher Address: Singapore ; River Edge, N.J. :
Publication Dates: 1993.
Literature type: eBook
Language: English
Series: World Scientific series in robotics and automated systems ; vol. 7
Subjects:
Robots > Control systems.
Computer vision.
Servomechanisms.
Electronic books.
Online Access: http://www.worldscientific.com/worldscibooks/10.1142/1995#t=toc
Summary: This book treats visual feedback control of mechanical systems, mostly robot manipulators. It not only deals with image processing techniques and robot control schemes but also covers the latest investigation of the design of the visual servo mechanism based on modern linear and nonlinear control theory, the adaptive control scheme, fuzzy logic, and neural networks. New concepts for utilizing visual sensory information for real-time manipulator control are derived and the performances are evaluated through simulations and/or experiments. The contributors to this book are robotics specialists from all over the world. The book gives a practical perspective on visual servoing to researchers, engineers, and students working in this area.
Carrier Form: 1 online resource (vii,363pages) : illustrations.
Bibliography: Includes bibliographical references.
ISBN: 9789814503709
CLC: TP242
Contents: Visual control of robot manipulators : a review / P.L Corke -- Hand-eye coordination for robotic tracking and grasping / P.K. Allen ... [et al.] -- Visual servo control of robots using kalman filter estimates of robot pose relative to work-pieces / W.J. Wilson -- Feature-based visual servoing of robotic systems / J.T. Feddema, C. S. G. Lee and O. R. Mitchell -- Visual servoing for robotic assembly / B. Nelson, N.P. Papanikolopoulos and P. K. Khosla -- LQ optimal and nonlinear approaches to visual servoing / K. Hashimoto and H. Kimura -- Classification and realization of the different vision-based tasks / F. Chaumette, P. Rives and B. Espiau -- A dynamic sensor for robot juggling / A. A. Rizzi and D. E. Koditschek -- Video-rate robot visual servoing / P.I. Corke -- Visual servoing of robot manipulators by fuzzy membership function based neural networks / I.H. Suh and T.W. Kim -- Characterization and use of feature-Jacobian matrix for visual servoing / Z. Bien, W. Jang and J. Park.

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