Kinematics of Stratified Vision-Based Manipulation
作者单位：University of Notre Dame University of Notre Dame University of Notre Dame
会议名称：《第十一届IFTOMM世界大会》
会议日期：2004年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
关 键 词：Robotic Manipulation Vision Kinematics
摘 要：正This paper addresses two kinematics problems associated with the application of camera-space manipulation to stratified robotic manipulation. The first one is to characterize the pose of a three-dimensional object by the image information of the visual features randomly attached to the object. The second one is to calibrate the kinematics model of multiple robots via computer vision, which is a difficult problem that camera-space method itself can avoid when applied to robotic manipulation. A general method is presented to determine the pose of an object based on the object’s visual features image information. Experiments on a ball and a cube object are carried out to verify that method. The experiment results related to the ball are presented.