Specifications

2 Faculty of Engineering and Information Technology, University of Technology (UTS), Sydney,
Australia
Corresponding author: Xin, J. ([e-mail])
Source title: International Journal of Advanced Robotic Systems
Abbreviated source title: Int. J. Adv. Rob. Syst.
Volume: 10
Issue date: February 12, 2013
Publication year: 2013
Article number: 120
Language: English
ISSN: 17298806
E-ISSN: 17298814
Document type: Journal article (JA)
Publisher: InTech Europe, Slavka Krautzeka 83/A, 51000 Rijeka, Croatia, 51000, Croatia
Abstract: To solve the view visibility problem and keep the observed object in the field of view
(FOV) during the visual servoing, a depth adaptive zooming visual servoing strategy for a
manipulator robot with a zooming camera is proposed. Firstly, a zoom control mechanism is
introduced into the robot visual servoing system. It can dynamically adjust the camera's field of
view to keep all the feature points on the object in the field of view of the camera and get high
object local resolution at the end of visual servoing. Secondly, an invariant visual servoing
method is employed to control the robot to the desired position under the changing intrinsic
parameters of the camera. Finally, a nonlinear depth adaptive estimation scheme in the invariant
space using Lyapunov stability theory is proposed to estimate adaptively the depth of the image
features on the object. Three kinds of robot 4DOF visual positioning simulation experiments are
conducted. The simulation experiment results show that the proposed approach has higher
positioning precision. © 2013 Xin et al.
Number of references: 22
Main heading: Visual servoing
Controlled terms: Cameras - Estimation - Experiments - Manipulators - Robots
Uncontrolled terms: Adaptive estimation - Intrinsic parameters - Lyapunov stability
theory - Manipulator robots - Positioning precision - Robot visual servoing - Visual
positioning - Visual servoing methods
Classification code: 731 Automatic Control Principles and Applications - 732 Control Devices
- 742.2 Photographic Equipment - 901.3 Engineering Research - 921 Mathematics
DOI: 10.5772/54566
Database: Compendex
Compilation and indexing terms, © 2013 Elsevier Inc.
9.
Accession number: 20131916312483
Title: Corrosion behavior of AZ91/AZ91-0.4%Nd alloys in 3.5wt.% NaCl
Authors: Zhang, Jumei1 ; Wang, Zhihu2 ; Cai, Hui1 ; Zhu, Ming1 ; Niu, Libin1/张菊梅;王志虎;蔡
辉;朱明;;
Author affiliation: 1 School of Materials Science and Engineering, Xi'an University of Science
and Technology, Xian 710054, China