Visual Servoing of a Redundant Manipulator Using Shape Moments

Indrazno Siradjuddin, TM McGinnity, Laxmidhar Behera, SA Coleman

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This paper is concerned with real-time visual servoing of a redundant ma-nipulator using shape moments. The forward kinematics of the PowerCube manipulatorwith seven degrees of freedom (DOF) has been derived. The visual servoing is carriedout with camera placed at the end-effector which is also known as eye-in-hand config-uration. Image plane features such as centroid, area and orientation are considered toderive the image interaction matrix (image Jacobian) that maps image plane pixel veloc-ities to the end-effector Cartesian velocities. The proposed image based visual servoing(IBVS) method uses the moments invariant of an elliptical object and can position theend-effector to grasp the object with z-axis orientation of the end of effector. Actualexperiments have been carried out on the PowerCube manipulator from Amtec Roboticsto show that kinematic and image Jacobians derived are accurate.
Original languageEnglish
Title of host publicationUnknown Host Publication
PublisherInstitution of Engineering and Technology
Number of pages6
Publication statusPublished (in print/issue) - 10 Jun 2009
EventIrish Signals and Systems Conference - Galway, Ireland
Duration: 10 Jun 2009 → …


ConferenceIrish Signals and Systems Conference
Period10/06/09 → …


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