Development of highly intuitive interfaces for safe human-robot cooperation during assembly by using sensors, visual servoing
, speech recognition, advanced control algorithms
In proposed system, robot ability is not limited with tracking or manipulation ability as it is separated in active vision and visual servoing applications but a fusion of the capabilities from two research field.
This problem, by its nature, is a visual servoing problem where pose error cannot be directly related to sensory and actuators signals but related to integral of them.
Following an introduction to the history of robotics and the Lyapunov-based control philosophy, chapters cover the standard control design tools available for robotic systems within the context of the Lyapunov-based framework; problems in visual servoing
control, including robot end-effector tracking a prerecorded time-varying reference trajectory under visual feedback from a monocular camera, estimating the shape of a continuum robot, tracking and regulation problems of wheeled mobile robots, and the classic Structure from Motion problem.
We are using them for our current research on human robot interaction as well as for research on autonomous visual servoing
," said Dr.
Key words: visual servoing
, CCD camera, MATLAB Simulink, real time driving
The robotic visual servoing
system, which refers to the use of visual feedback for coordinated movements of a robotic arm, uses only image-based two-dimensional feature tracking," says Sivadevan.