Setpoint regulation of continuum robots using a fixed camera

V. Chitrakaran, A. Behal, D. Dawson, I. Walker
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引用次数: 51

Abstract

We investigate the problem of measuring the shape of a continuum robot using visual information from a fixed camera. Specifically, we capture the motion of a set of fictitious planes, each formed by four 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 end-effector of the robot to a constant desired position and orientation, while at the same time using its kinematic redundancy to satisfy a subtask objective such as obstacle avoidance.
使用固定摄像机的连续体机器人设定值调节
我们研究了利用固定摄像机的视觉信息测量连续体机器人形状的问题。具体来说,我们捕获了一组虚拟平面的运动,每个平面由四个特征点组成,定义在机器人身体的不同战略位置。然后,利用机器人正运动学表达式以及机器人参考图像与实际机器人图像的单应性分解,连续获得三维形状信息。然后,我们使用这些信息来演示运动学控制器的发展,以调节机器人的末端执行器到恒定的期望位置和方向,同时使用其运动学冗余来满足子任务目标,如避障。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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