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

21 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.
Original languageEnglish
Title of host publicationUnknown Host Publication
PublisherIEEE
Pages1667-1673
Number of pages7
ISBN (Print)978-1-4673-1489-3
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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