Title

Setpoint Regulation Of Continuum Robots Using A Fixed Camera

Keywords

Computer vision; Continuum robots; Shape estimation

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. © 2007 Cambridge University Press.

Publication Date

9-1-2007

Publication Title

Robotica

Volume

25

Issue

5

Number of Pages

581-586

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1017/S0263574707003475

Socpus ID

34748915907 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/34748915907

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