TUDOR initial visual servoing experiments

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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.
DOI
Publisher
TU Dortmund, Lehrstuhl für Regelungssystemtechnik
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) Computer animation Visual servoing
Angle of attack Computer animation Joint
Angle of attack Computer animation Joint
Computer animation Finger protocol
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Timings

  479 ms - page object

Version

AV-Portal 3.9.1 (0da88e96ae8dbbf323d1005dc12c7aa41dfc5a31)