Wavelets-based 6 DOF Visual Servoing

被引：0

作者：

Ourak, Mouloud ^{[1
]}

Tamadazte, Brahim ^{[1
]}

Lehmann, Olivier ^{[1
]}

Andreff, Nicolas ^{[1
]}

机构：

[1] Univ Bourgogne Franche Comte, Univ Franche Comte, CNRS, ENSMM, F-25000 Besanon, France

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2016年

关键词：

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：

This paper presents the development of a new visual servoing control law using global information image. It consists in the use of the wavelet spatial coefficients as the visual signal to design visual controller. More precisely, we introduce the concept of multiple resolution interaction matrix that links the time-variation of wavelet coefficients to the robot spatial velocity and the associated task function controller. The proposed controller was successfully validated using a 6 degrees-of-freedom 3 (PP) under bar SR parallel kinematic manipulator in an eye-to-hand configuration. Experimental results show the accuracy, efficiency and show good behavior of such features.

引用

页码：3414 / 3419

页数：6

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