Title
Setpoint regulation of continuum robots using a fixed camera
Abbreviated Journal Title
Robotica
Keywords
continuum robots; computer vision; shape estimation; MANIPULATORS; Robotics
Abstract
In this paper, we investigate the problem of measuring the shape of a continuum robot manipulator using visual information from a fixed camera. Specifically, we capture the motion of a set of fictitious planes, each formed by four or more feature points, defined at various strategic locations along the body of the robot. Then, utilizing expressions for the robot forward kinematics as well as the decomposition of a homography relating a reference image of the robot to the actual robot image, we obtain the three-dimensional shape information continuously. We then use this information to demonstrate the development of a kinematic controller to regulate the manipulator end-effector to a constant desired position and orientation.
Journal Title
Robotica
Volume
25
Publication Date
1-1-2007
Document Type
Article
Language
English
First Page
581
Last Page
586
WOS Identifier
ISSN
0263-5747
Recommended Citation
"Setpoint regulation of continuum robots using a fixed camera" (2007). Faculty Bibliography 2000s. 6953.
https://stars.library.ucf.edu/facultybib2000/6953
Comments
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