Setpoint regulation of continuum robots using a fixed camera

    Authors

    V. K. Chitrakaran; A. Behal; D. M. Dawson;I. D. Walker

    Comments

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    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

    WOS:000250929000008

    ISSN

    0263-5747

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