2.5-D visual servoing experiment using Adept Viper s850

Akif Rahmatillah; Bambang R. Trilaksono; Hilwadi Hindersah

doi:10.1109/ICICI-BME.2013.6698512

2.5-D visual servoing experiment using Adept Viper s850

Akif Rahmatillah, Bambang R. Trilaksono, Hilwadi Hindersah

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper describe a visual feedback control experiment for manipulator robot with camera on its hand using 2.5-D visual servoing control scheme. This scheme does not need estimate full 3D model of target object. Design of image jacobian matrix is separated between translation motion that using image based scheme and rotation motion that using position based scheme. The task of robot was approaching an object with specific desired position and orientation. A 6DOFAdept Viper s850 robot and Logitech C920 web camera are used in this experiment. An experiment architecture adapted to facilities in our lab.

Original language	English
Title of host publication	Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering
Subtitle of host publication	Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013
Publisher	IEEE Computer Society
Pages	296-301
Number of pages	6
ISBN (Print)	9781479916504
DOIs	https://doi.org/10.1109/ICICI-BME.2013.6698512
Publication status	Published - 2013
Event	2013 3rd International Conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering, ICICI-BME 2013 - Bandung, Indonesia Duration: 7 Nov 2013 → 8 Nov 2013

Publication series

Name	Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering: Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013

Conference

Conference	2013 3rd International Conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering, ICICI-BME 2013
Country/Territory	Indonesia
City	Bandung
Period	7/11/13 → 8/11/13

Keywords

2.5-D visual servoing
interaction matrix
manipulator robot
visual servoing
web camera

Access to Document

10.1109/ICICI-BME.2013.6698512

Cite this

Rahmatillah, A., Trilaksono, B. R., & Hindersah, H. (2013). 2.5-D visual servoing experiment using Adept Viper s850. In Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering: Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013 (pp. 296-301). Article 6698512 (Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering: Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013). IEEE Computer Society. https://doi.org/10.1109/ICICI-BME.2013.6698512

Rahmatillah, Akif ; Trilaksono, Bambang R. ; Hindersah, Hilwadi. / 2.5-D visual servoing experiment using Adept Viper s850. Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering: Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013. IEEE Computer Society, 2013. pp. 296-301 (Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering: Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013).

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abstract = "This paper describe a visual feedback control experiment for manipulator robot with camera on its hand using 2.5-D visual servoing control scheme. This scheme does not need estimate full 3D model of target object. Design of image jacobian matrix is separated between translation motion that using image based scheme and rotation motion that using position based scheme. The task of robot was approaching an object with specific desired position and orientation. A 6DOFAdept Viper s850 robot and Logitech C920 web camera are used in this experiment. An experiment architecture adapted to facilities in our lab.",

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doi = "10.1109/ICICI-BME.2013.6698512",

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Rahmatillah, A, Trilaksono, BR & Hindersah, H 2013, 2.5-D visual servoing experiment using Adept Viper s850. in Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering: Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013., 6698512, Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering: Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013, IEEE Computer Society, pp. 296-301, 2013 3rd International Conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering, ICICI-BME 2013, Bandung, Indonesia, 7/11/13. https://doi.org/10.1109/ICICI-BME.2013.6698512

2.5-D visual servoing experiment using Adept Viper s850. / Rahmatillah, Akif; Trilaksono, Bambang R.; Hindersah, Hilwadi.
Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering: Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013. IEEE Computer Society, 2013. p. 296-301 6698512 (Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering: Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Rahmatillah A, Trilaksono BR, Hindersah H. 2.5-D visual servoing experiment using Adept Viper s850. In Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering: Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013. IEEE Computer Society. 2013. p. 296-301. 6698512. (Proc. of 2013 3rd Int. Conf. on Instrumentation, Communications, Information Technol., and Biomedical Engineering: Science and Technol. for Improvement of Health, Safety, and Environ., ICICI-BME 2013). doi: 10.1109/ICICI-BME.2013.6698512

2.5-D visual servoing experiment using Adept Viper s850

Abstract

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Keywords

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