A position based visual tracking system for a 7 DOF robot manipulator using a Kinect camera

I Siradjuddin, Laxmidhar Behera, TM McGinnity, SA Coleman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)

Abstract

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.
LanguageEnglish
Title of host publicationUnknown Host Publication
Pages1667-1673
Number of pages7
DOIs
Publication statusPublished - 10 Jun 2012
EventIEEE World Congress on Computational Intelligence (IJCNN) - Brisbane, Australia
Duration: 10 Jun 2012 → …

Conference

ConferenceIEEE World Congress on Computational Intelligence (IJCNN)
Period10/06/12 → …

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Manipulators
Cameras
Robots
Robotics
Redundant manipulators
Visual servoing
End effectors
Kalman filters
Experiments

Cite this

Siradjuddin, I ; Behera, Laxmidhar ; McGinnity, TM ; Coleman, SA. / A position based visual tracking system for a 7 DOF robot manipulator using a Kinect camera. Unknown Host Publication. 2012. pp. 1667-1673
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Siradjuddin, I, Behera, L, McGinnity, TM & Coleman, SA 2012, A position based visual tracking system for a 7 DOF robot manipulator using a Kinect camera. in Unknown Host Publication. pp. 1667-1673, IEEE World Congress on Computational Intelligence (IJCNN), 10/06/12. https://doi.org/10.1109/IJCNN.2012.6252597

A position based visual tracking system for a 7 DOF robot manipulator using a Kinect camera. / Siradjuddin, I; Behera, Laxmidhar; McGinnity, TM; Coleman, SA.

Unknown Host Publication. 2012. p. 1667-1673.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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