AS-74.3135 Servotekniikka Visual Servo

AS-74.3135 Servotekniikka

Visual Servo

Olavi Peltonen – 23.4.2012

http://www.societyofrobots.com/images/robot_arm_visual_servo.gif

http://webdocs.cs.ualberta.ca/~vis/robotics/uncalib/uncalibvs.htm

Open-loop Closed-loop

Survey on Visual Servoing for Manipulation, 2002 Kragic ja Christensen

Historiaa

Visual feedback 1973 Shirai ja Inoue Visual servoing 1979 Hill ja Park

Sanderson ja Weiss järjestelmien luokittelu look-and-move systems direct visual servo system

Antamani yleisemmän määritelmän mukaan visual servoja, ei Weiss

Visual Control of Robot Manipulators – a Review, 1993 Peter Corke

PBVS

IBVS

Visual Control of Robot Manipulators – a Review, 1993 Peter Corke

PBVS

IBVS

Survey on Visual Servoing for Manipulation, 2002 Kragic ja Christensen

http://users.cecs.anu.edu.au/~rsl/car/images/viov.png

http://vigir.missouri.edu/images/VS.htm1.jpghttp://www.cs.cmu.edu/~deano/research/visualservo/pics/marsokhod.gif

A Tutorial on Visual Servo Control, 1996 Seth Hutchinson

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