TY - GEN
T1 - A Hybrid Image Based Visual Servoing for a Manipulator using Kinect
AU - Raja, R.
AU - Kumar, S.
PY - 2017/6/28
Y1 - 2017/6/28
N2 - In this paper, we propose a hybrid image based visual servoing for 6 degrees of freedom (DoF) robot manipulators. It avoids the drawbacks of classical position-based visual servoing. Contrary to the position-based visual servoing, this method does not require any knowledge of the geometric 3 DoF model of the object. On the other hand, the depth information of the object is required. In the proposed approach, a Kinect sensor is used as a camera, which provides depth information of the object from the point cloud. .is method tracks the position of the target object. .e method is simulated in Gazebo platform with Kinect sensor mounted on 6 DoF Universal Robot 5 (UR5) manipulator, where all the physical parameters of the robot and Kinect sensor is considered. .e solution is developed in C++ integrated with ROS, OpenCV. .e method illustrated with a variety of simulation results with an eye-in-hand robotic system which shows the convergence of the system and potential of our method.
AB - In this paper, we propose a hybrid image based visual servoing for 6 degrees of freedom (DoF) robot manipulators. It avoids the drawbacks of classical position-based visual servoing. Contrary to the position-based visual servoing, this method does not require any knowledge of the geometric 3 DoF model of the object. On the other hand, the depth information of the object is required. In the proposed approach, a Kinect sensor is used as a camera, which provides depth information of the object from the point cloud. .is method tracks the position of the target object. .e method is simulated in Gazebo platform with Kinect sensor mounted on 6 DoF Universal Robot 5 (UR5) manipulator, where all the physical parameters of the robot and Kinect sensor is considered. .e solution is developed in C++ integrated with ROS, OpenCV. .e method illustrated with a variety of simulation results with an eye-in-hand robotic system which shows the convergence of the system and potential of our method.
KW - Eye-in-hand system
KW - Gazebo
KW - Image based visual servoing
KW - Kinect sensor
KW - UR5 robot manipulator
UR - http://www.scopus.com/inward/record.url?scp=85038418706&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85038418706&partnerID=8YFLogxK
U2 - 10.1145/3132446.3134916
DO - 10.1145/3132446.3134916
M3 - Conference proceeding (ISBN)
AN - SCOPUS:85038418706
T3 - ACM International Conference Proceeding Series
BT - Proceedings of the Advances in Robotics, AIR 2017
PB - Association for Computing Machinery
T2 - Conference on Advances in Robotics, AIR 2017
Y2 - 28 June 2017 through 2 July 2017
ER -