Image-based simultaneous control of robot and target object motions by direct-image-interpretation method

Koichiro Deguchi, Isao Takahashi

Research output: Contribution to conferencePaperpeer-review

9 Citations (Scopus)

Abstract

This paper deals with the image-based simultaneous motion control of robot-arms mounting cameras and target objects. Given a goal image, the control achieves to move the robots to the position where the given goal images were taken and, at the same time, target objects to the same positions as they were in the goal images. Their motions are determined to reduce the difference between the goal images and the images taken at their current positions. We use the 'eigen-space method' to obtain compact representations of the images. To relate the image differences to the robot-arm and target object motions, we re-arrange the eigen space so that the representations and their motions become linearly dependent. Experiments to control real robots where a robot and a object motions and as well as two robots with two cameras and a object motions simultaneously are shown with good performances.

Original languageEnglish
Pages375-380
Number of pages6
Publication statusPublished - 1999 Dec 1
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: 1999 Oct 171999 Oct 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period99/10/1799/10/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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