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Content Provider | IEEE Xplore Digital Library |
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Author | Rajpar, A.H. Qiang Huang Weimin Zhang Dongyong Jia Kejie Li |
Copyright Year | 2007 |
Description | Author affiliation: Beijing Inst. of Technol., Beijing (Rajpar, A.H.; Qiang Huang; Weimin Zhang; Dongyong Jia; Kejie Li) |
Abstract | In this paper an object manipulation approach is proposed, in which object location is detected through stereo vision, pre-reaching and alignment of the object with hand is based on image features, and finally inverse kinematics control algorithm is developed. A new method for computing numerical solution to the inverse kinematics problem of robot manipulator is developed. The proposed method is based on combination of two nonlinear programming techniques. Forward recursion formula with backward cycle computation method is used to reach in the vicinity of target object and then FBS method is used to grasp object in real-time. Proposed method is numerically stable, computationally effective and it is not sensitive to singular configuration of the manipulator. Effectiveness of the proposed method is achieved through simulated and experimental results. |
Starting Page | 1148 |
Ending Page | 1153 |
File Size | 275025 |
Page Count | 6 |
File Format | |
ISBN | 9781424408276 |
DOI | 10.1109/ICMA.2007.4303710 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2007-08-05 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Humanoid robots Manipulators Robot kinematics Visual servoing Object detection Mechatronics Robot sensing systems Nonlinear equations Optimization methods Robotics and automation grasp and inverse kinematics target detection pre-reaching alignment |
Content Type | Text |
Resource Type | Article |
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