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Modified Smith Predictor with DeMenthon-Horaud pose estimation algorithm for 3D dynamic visual servoing

Published online by Cambridge University Press:  21 November 2002

T. P. Sim ,
G. S. Hong  and
K. B. Lim
T. P. Sim
Affiliation:
Department of Mechanical Engineering, National University of Singapore, Engineering Drive 1, Singapore 117576. mpehgs@nus.edu.sg
G. S. Hong
Affiliation:
Department of Mechanical Engineering, National University of Singapore, Engineering Drive 1, Singapore 117576. mpehgs@nus.edu.sg
K. B. Lim
Affiliation:
Department of Mechanical Engineering, National University of Singapore, Engineering Drive 1, Singapore 117576. mpehgs@nus.edu.sg
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Abstract

This paper presents an attractive position-based visual servoing approach for camera-in-hand robotic systerns. The major contribution of this work is in devising an elegant and pragmatic approach for 3D visual tracking, which yielded good target tracking performance. It differs from the other known techniques, in its approach for image interpretation and the introduction of a Smith-like predictor control structure to overcome the inherent multi-rate time delayed nature of the visual servoing system. A complete description is made of the proposed MSP-DH visual servoing system. Experiments on the target tracking performance on XY planar motion using an AdeptOne robotic system are presented to illustrate the controller performance. In addition, experimental results have clearly shown the capability of the MSP-DH visual servoing system in performing 3D-dynamic visual servoing.

Keywords

Visual servoing3D object trackingModified Smith PredictorPose estimation
Type
Research Article
Information
Robotica , Volume 20 , Issue 6 , November 2002 , pp. 615 - 624
Copyright
© 2002 Cambridge University Press

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