Eye-in-Hand/Eye-to-Hand Configuration for a WMRA Control Based on Visual Servoing

被引：0
|
作者：
Elarbi-Boudihir, M. [1 ]
Al-Shalfan, Khalid A. [2 ]
机构：
[1] Imam Univ, Coll Sci, AI Lab, Riyadh, Saudi Arabia
[2] Imam Univ, Dept Comp Sci, AI Lab, Riyadh, Saudi Arabia
来源：
2013 IEEE 11TH INTERNATIONAL WORKSHOP OF ELECTRONICS, CONTROL, MEASUREMENT, SIGNALS AND THEIR APPLICATION TO MECHATRONICS (ECMSM) | 2013年
关键词：
Hand-eye Configuration; Assistive Robotic Manipulator; Robot vision system; Visual Servoing;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
People suffering from severe disability like spinal cord injury dysfunctions are unable to control a wheelchair via a common joystick interface. For this target group we have developed a robotic wheelchair able to perform autonomous navigation and operate on different driving modes depending on the disability type of its user. Moreover, a 7-DoF wheelchair-mounted robotic arm (WMRA) was added to the 2-DoF nonholonomic wheelchair platform. In this paper, an image-based visual servoing (IBVS) approach is described with a Speeded Up Robust local Features detection (SURF) using eye-in-hand and eye-to-hand camera configuration for combined control of mobility and manipulation of the 9-DoF WMRA system to execute activities of daily living (ADL) autonomously. Selecting a control mode is done either by voice or by the touchscreen. Experiments with human users highlight advantages of augmentation in wheelchairs.
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页数：6
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