Siradjuddin, I, Behera, Laxmidhar, McGinnity, TM and Coleman, SA (2012) A position based visual tracking system for a 7 DOF robot manipulator using a Kinect camera. In: IEEE World Congress on Computational Intelligence (IJCNN), Brisbane, Australia. IEEE. 7 pp. [Conference contribution]
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This paper presents a position based visual tracking system of a redundant manipulator using a Kinect camera. Kinect camera provides 3-D information of a target object, therefore the control algorithm of the position-based visual servoing (PBVS) can be simplified, as there is no requirement to estimate a 3-D feature point position from the extracted image and the camera model. The Kalman filter is used to predict the target position and velocity. This control method is applied to a calibrated robotic system with eye-to-hand configuration. The stability analysis has been derived and real-time experiments have been carried out using a 7 DOF PowerCube manipulator from Amtec Robotic. The experimental results of both static and moving targets are presented to demonstrate and to verify the proposed position based visual tracking system performance.
|Item Type:||Conference contribution (Poster)|
|Faculties and Schools:||Faculty of Computing & Engineering|
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
|Research Institutes and Groups:||Computer Science Research Institute > Intelligent Systems Research Centre|
Computer Science Research Institute
|Deposited By:||Dr Sonya Coleman|
|Deposited On:||24 Aug 2012 09:27|
|Last Modified:||24 Aug 2012 09:27|
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