TUDOR initial visual servoing experiments

Video in TIB AV-Portal: TUDOR initial visual servoing experiments

Formal Metadata

Title
TUDOR initial visual servoing experiments
Author
Malzahn, Jörn
Phung, Anh Son
Hoffmann, Frank
Bertram, Torsten
License
CC Attribution 3.0 Unported:
You are free to use, adapt and copy, distribute and transmit the work or content in adapted or unchanged form for any legal purpose as long as the work is attributed to the author in the manner specified by the author or licensor.
Identifiers
Publisher
Release Date
2011
Language
Silent film
Production Year
2011
Production Place
Dortmund

Content Metadata

Subject Area
Abstract
The video demonstrates 2D visual servoing for the multi-flexible-link robot arm TUDOR. The visual servoing scheme utilizes the robot jacobian of the equivalent rigid arm. Vibration damping is achieved by an underlying cascaded independent joint controller with augmented strain feedback (http://www.youtube.com/watch?v=pmnX4w...). The objective of the visual servoing controller is to keep the centroid of a square pattern in the image center. The controller also compensates for the pose error caused by deflections due to an additional payload of 600 gram. The camera is a Microsoft Kinect, although the depth information has not yet been incorporated in the controller. Exploiting the potentials of the RGB-D sensor for the control flexible-link robots is subject to current research. Timeline: 00:06 Experiment I: Centering a moving square pattern 00:40 Experiment II: Change in payload without visual servoing 01:27 Experiment III: Change in payload with visual servoing
Keywords oscillation damping collision detection flexible robot elastic link flexible link compliance force control robotics kinect computer vision visual tracking visual servoing
Pattern (sewing) Visual servoing Firearm
Angle of attack Joint
Angle of attack Joint
Finger protocol
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Feedback

Timings

 2577 ms - page object

Version

AV-Portal 3.20.1 (bea96f1033d39fbe77f82542458e108105398441)
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