loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Renato de Sousa Dâmaso 1 ; Mário Sarcinelli Filho 1 ; Teodiano Freire Bastos Filho 1 and Tarcisio Passos Ribeiro de Campos 2

Affiliations: 1 Federal University of Espírito Santo, Brazil ; 2 Federal University of Minas Gerais, Brazil

Keyword(s): Visuo-motor coordination, Control of manipulators, Object grasping, Uncalibrated binocular vision.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper presents a strategy to build an experimental visuo-motor model for a manipulator coupled to a binocular vision system, which discards any previous algebraic model and any calibration of either the manipulator or the vision system. The space spanned by a set of selected image features is divided in regions, and the estimated visuo-motor model is represented by a matrix of constant elements associated to each one of such regions. Such matrices are obtained in an incremental way, starting from commands of movement and using the measurements of the variations they cause in the set of image features. Even when partially filled in, the visuo-motor model can be used for coordinating the manipulator in order to get its end-effector closer to an object and to grasp it. Preliminary results got from the implementation of the proposed strategy in a prototyped manipulator coupled to a binocular vision system are also presented.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 35.175.236.44

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
de Sousa Dâmaso, R.; Sarcinelli Filho, M.; Freire Bastos Filho, T. and Passos Ribeiro de Campos, T. (2005). COORDINATION OF A PROTOTYPED MANIPULATOR BASED ON AN EXPERIMENTAL VISUO-MOTOR MODEL. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 304-309. DOI: 10.5220/0001191303040309

@conference{icinco05,
author={Renato {de Sousa Dâmaso}. and Mário {Sarcinelli Filho}. and Teodiano {Freire Bastos Filho}. and Tarcisio {Passos Ribeiro de Campos}.},
title={COORDINATION OF A PROTOTYPED MANIPULATOR BASED ON AN EXPERIMENTAL VISUO-MOTOR MODEL},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2005},
pages={304-309},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001191303040309},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - COORDINATION OF A PROTOTYPED MANIPULATOR BASED ON AN EXPERIMENTAL VISUO-MOTOR MODEL
SN - 972-8865-30-9
IS - 2184-2809
AU - de Sousa Dâmaso, R.
AU - Sarcinelli Filho, M.
AU - Freire Bastos Filho, T.
AU - Passos Ribeiro de Campos, T.
PY - 2005
SP - 304
EP - 309
DO - 10.5220/0001191303040309
PB - SciTePress