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

I Siradjuddin; Laxmidhar Behera; TM McGinnity; SA Coleman

doi:10.1109/IJCNN.2012.6252597

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 proceeding › Conference contribution › peer-review

28 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 language	English
Title of host publication	Unknown Host Publication
Publisher	IEEE
Pages	1667-1673
Number of pages	7
ISBN (Print)	978-1-4673-1489-3
DOIs	https://doi.org/10.1109/IJCNN.2012.6252597
Publication status	Published (in print/issue) - 10 Jun 2012
Event	IEEE World Congress on Computational Intelligence (IJCNN) - Brisbane, Australia Duration: 10 Jun 2012 → …

Conference

Conference	IEEE World Congress on Computational Intelligence (IJCNN)
Period	10/06/12 → …

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10.1109/IJCNN.2012.6252597

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title = "A position based visual tracking system for a 7 DOF robot manipulator using a Kinect camera",

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.",

author = "I Siradjuddin and Laxmidhar Behera and TM McGinnity and SA Coleman",

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N2 - 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.

AB - 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.

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T2 - IEEE World Congress on Computational Intelligence (IJCNN)

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ER -

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

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