Visually guided robotic tracking and grasping of a moving object

Ming Lei, Bijoy K. Ghosh

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

17 Scopus citations

Abstract

Visually-guided tracking and grasping of a moving object by a robot manipulator is discussed in this paper. Position-based and image-based tracking schemes are proposed. It is shown that when the motion of the object is accurately estimated, both schemes are equivalent since they are the same control problem considered in two spaces. If the image of the gripper is also available, the image-based controller can be improved to cope with the system calibration error. The tracking and grasping performance is demonstrated from simulations.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages1604-1609
Number of pages6
ISBN (Print)0780312988
StatePublished - 1993
EventProceedings of the 32nd IEEE Conference on Decision and Control. Part 2 (of 4) - San Antonio, TX, USA
Duration: Dec 15 1993Dec 17 1993

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2
ISSN (Print)0191-2216

Conference

ConferenceProceedings of the 32nd IEEE Conference on Decision and Control. Part 2 (of 4)
CitySan Antonio, TX, USA
Period12/15/9312/17/93

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