Image and Graphics, International Conference on (2013)
Qingdao, China China
July 26, 2013 to July 28, 2013
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/ICIG.2013.155
This paper presents a method for controlling a two-wheeled mobile manipulator with visual servoing. There are three subsystems: stereo vision system, 10 DOF dual arm manipulator and two-wheeled mobile robot. The whole system can be seen as an inverted pendulum. When the robot reaches the stable state, the centroid of the whole system is in the perpendicular line of the central point of mobile robot platform and ground. The target object can be tracked using CamShift algorithm. The size, position of the object, and the distance between the object and mobile manipulator can be obtained with visual servoing. A stereo vision system with image based visual servoing (IBVS) is proposed in this paper.
Manipulators, Mobile robots, Joints, Mobile communication, Visual servoing, Conferences,inverted pendulum, visual servoing, mobile manipulator, balance control
Hu Chen, Jangmyung Lee, "Control of Two-Wheeled Mobile Manipulator with Vision Servoing", Image and Graphics, International Conference on, vol. 00, no. , pp. 753-756, 2013, doi:10.1109/ICIG.2013.155