Accession Number:

ADA218711

Title:

Video-Rate Visual Servoing for Robots

Descriptive Note:

Interim technical rept.

Corporate Author:

MOORE SCHOOL OF ELECTRICAL ENGINEERING PHILADELPHIA PA GRASP LAB

Personal Author(s):

Report Date:

1989-02-01

Pagination or Media Count:

15.0

Abstract:

This paper presents some preliminary experimental results in robotic visual servoing, utilizing a newly available hardware region-growing and moment- generation unit. A Unix-based workstation in conjunction with special purpose video processing hardware has been used to visually close the robot position loop at video field rate, 60 Hz. The architecture and capabilities of the system are discussed. Performance of the closed-loop position control is investigated analytically and via step response tests, and experimental results are presented. Initial results are for 2 dimensional servoing, but extensions to 3 dimensional positioning are covered along with methods for monocular distance determination.

Subject Categories:

  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE