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.
|Title of host publication||Unknown Host Publication|
|Number of pages||7|
|Publication status||Published (in print/issue) - 10 Jun 2012|
|Event||IEEE World Congress on Computational Intelligence (IJCNN) - Brisbane, Australia|
Duration: 10 Jun 2012 → …
|Conference||IEEE World Congress on Computational Intelligence (IJCNN)|
|Period||10/06/12 → …|