Image feature command generation of contour following tasks for SCARA robots employing Image-Based Visual Servoing—A PH-spline approach
详细信息 查看全文
- 作者：Wei-Che Chang ; Ming-Yang Cheng ; mycheng@mail.ncku.edu.tw ; Hong-Jin Tsai
- 关键词：Image-Based Visual Servoing ; PH-spline ; Motion planning ; Depth estimation
- 刊名：Robotics and Computer-Integrated Manufacturing
- 出版年：2017
- 出版时间：April 2017
- 年：2017
- 卷：44
- 期：Complete
- 页码：57-66
- 全文大小：4222 K
- 卷排序：44
文摘
A PH-spline based motion planning approach for systems that adopt IBVS is proposed. Image feature commands are generated by a PH quantic spline interpolator. The PH quantic spline interpolator takes into account ACC/DEC motion planning and curvature. A depth estimation approach for IBVS in contour following applications is developed. The proposed approach is suitable for objects without geometric models.