Research on visual servo grasping of household objects for nonholonomic mobile manipulator
type: Item
instance of: scholarly article
title: Research on visual servo grasping of household objects for nonholonomic mobile manipulator
zbMATH Open document ID: 1298.93244
DOI: 10.1155/2014/315396
author: Huangsheng Xie
author: Guodong Li
author: Yuexin Wang
author: Zhihe Fu
author: Fengyu Zhou
published in: Journal of Control Science and Engineering
publication date: 2014-10-20T00:00:00Z
review text: Summary: This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response) code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator's kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR code-based artificial object mark can overcome the difficulties brought by household objects' variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 68T40
Mathematics Subject Classification ID: 68T45
zbMATH DE Number: 6358587
zbMATH Keywords: visual servo grasping
zbMATH Keywords: nonholonomic mobile manipulator
zbMATH Keywords: autonomous mobile manipulation system
zbMATH Keywords: switching control
Wikidata QID: Q59055386
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2014/315396
OpenAlex ID: W2039612433
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cites work: 2 1/2 D visual servoing with respect to unknown objects through a new estimation scheme of camera displacement
description: scientific article; zbMATH DE number 6358587