NDLI: Image-based Visual Servoing of a Real Robot Using a Quaternion Formulation

Content Provider	IEEE Xplore Digital Library
Author	Koenig, T. Dong, Y. DeSouza, G.N.
Copyright Year	2008
Description	Author affiliation: ECE Dept., Univ. of Missouri, Columbia, MO (Koenig, T.; Dong, Y.; DeSouza, G.N.)
Abstract	In this paper we present the results from our visual servoing system for a real industrial robot. In contrast to other visual servoing system in the literature, the one presented here, which was derived from [4], uses a quaternion representation of the rotation instead of the more common matrix representation. By doing so, the proposed system avoids potential singularities introduced by the rotational matrix representation. After performing exhaustive tests in a simulated environment, our controller was applied to a Kawasaki UX150. In the case of simulation, the movement of the camera and the image processing were performed using Matlab-Simulink, which allowed us to test the controller regardless of the mechanism in which the camera was moved and the underlying controller that was needed for this movement. In the case of the real robot, the controller was tested initially using another simulation program provided by Kawasaki Japan and later with the real Kawasaki robot. The setup for testing and the results for all three cases above are presented here, but for more details on the simulations, the reader is encouraged to check [8].
Starting Page	216
Ending Page	221
File Size	5268563
Page Count	6
File Format	PDF
ISBN	9781424416752
DOI	10.1109/RAMECH.2008.4681525
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Quaternions Testing Service robots Performance evaluation Robot vision systems Cameras Image processing Computer languages Robot control quaternion Image-based servo visual servoing
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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